I like using grip for ripping audio from CDs. It comes packaged with pretty much any distribution, and acts as a front-end for cdparanoia (and a number of cd rippers) and lame (and a number of mp3/ogg encoders). It's pretty easy to use, especially once you set a few things up. I like setting it up to auto-rip new CDs upon insertion, and to auto-eject when finished, it makes it really easy to rip your entire CD collection that way.