How do I get song titles etc rather than a numbered list of tracks, on an audio CD burnt by iTunes?

Here's a great article about this problem.

iTunes can burn a CD with CD text but is not configured to use it. Not many players are set up to use it. The standard for CDs was establised over 30 years ago and did not include text information. No CDs have it on the CD except the few that have CD text, and then I believe it is not part of the music file.