Q: How do I burn files to a rewritable (RW) CD?

I never knew there would come a day when using Macintosh would feel like using Windows. That day has arrived. The OS Help was incredibly useless on this topic. It starts by assuming that a dialog box opens when the disk is inserted. But that doesn't happen with a RW disk.

Any ideas would be appreciated. I have already wasted hours trying to use the Disk Utility without instructions.