Nero can do this job very easily. (even V5.0, 5.5).
For CD-R, when you first time write CD, don't finalize it, so you can write later until it is full.
(When open the session, uncheck box of Finalize).
Next time, when you want to add more, open the session, check Open "Multi-Session" (?), on the bottom, there are some boxes: add new, overwrite, ... select add new (or append?).
For CDRW, you can do this in simple way: copy back what you have on the CD to hard disk, erase the CD, and write all together. (You may also do as above for CD-R and save time).
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For CD-R, when you first time write CD, don't finalize it, so you can write later until it is full.
(When open the session, uncheck box of Finalize).
Next time, when you want to add more, open the session, check Open "Multi-Session" (?), on the bottom, there are some boxes: add new, overwrite, ... select add new (or append?).
For CDRW, you can do this in simple way: copy back what you have on the CD to hard disk, erase the CD, and write all together. (You may also do as above for CD-R and save time).