DiscT@2 (1), the granddaddy of them all.

This was followed up by Labelflash in 2007(2).

(1) https://en.wikipedia.org/wiki/DiscT@2

(2) https://en.wikipedia.org/wiki/Labelflash

I still have a DiscT@2 capable drive running (a Yamaha CRW-F1), though I haven't tried the imaging capability in... geez, 20 years.