Well, the Windows 2003 Resource Kit had two CLI programs to burn ISO images. I once saw a program using these in order to burn a folder, but afaik it did not work with files.
A good program designed for burning via command line is CreateCD.
This should do the trick, and probably is easier than getting cdrdao or cdrtools to work. Although they also have a good reputation ;-).
Additionally, popular burning freeware like CDBurnerXP, ImgBurn support burning from a command line.
I also use ImgBurn.