1.Download craxtion from www.craxtion.com
2.Install it
3.Run the program and create an ISO, putting in one, or several emulators. If it's one emulator just put it in the root directory(not inside of a folder), this way it will run when you put in the cd-rw or dvd, if it's many emulators you could use craxtions multi game wizard, but instead of games you'd be adding emulator folders.
4.Burn in nero, burn it normally, don't force anything. Just open the ISO, choose 'close disk' and click on burn.
5.This should work perfectly fine, and remember- a lot of xbox dvd drives can only read cd-rw and dvd's, so if you are using normal cd-r's they may not work and you might have to try a different type of media.
Also make sure that in any of the .ini's for the emulators you want to burn that the media path, skins path and roms path's all point to the dvd and not someplace on your HD.
Hopefully this helps.
Kudos on actually searching, not many people do it.
-neverwill
EDIT----
I'm assuming you know a little about this kind of stuff, if you need clarification on anything, post here again.