actually there is a way. If you have an armax or the ps2 you can download the max media creator which allows you to burn emulators music and other programs to a cd though the media creator. Which then encodes the cd with ps2 encode to allow it to be read properly on the ps2. It works with cd-rs and dvd-rs.
ARMax is Action Replay Max its a cheating software for the ps2. you can buy the actual ARMax at any store that carries pS2 or other gaming stuff, walmart for example. The software to make your own games is available at the website codejunkies.com you will have to look for it I dont remember exactly where it is.