I had previously tried CD recording under Haiku with the BeOS port of CDRecord, but that didn't work. Then I stumbled upon a Haiku port of CDRecord by porter extrodinaire Francois Revol (mmu_man)!

Simply install the CDRecord binary in /home/config/bin. I also used a front-end (BurnItNow) that actually worked quite well! Testing under Vmware with a CDRW, here you can see that the drive is detected:



And you can see the blanking of a CD.