What you need is an DVD audio ripper/extractor. That will take the audio off your DVD and covert it into another format. With this you can then use a normal CD burning piece of software to burn these tracks to an audio CD.
There are 101 different programs out there that do this so I guess try a few and see what one you like the best. Here's a list of suitable programs on Download.com. Sort them by user rating, staff rating etc. to help you find the best one for you.
http://www.download.com/3120-20_4-0....&search=+Go%21