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Microsoft has instructions at http://msdn.microsoft.com/en-us/library/bb540662(VS.85).aspx that detail the steps you need to take.
I tested with Nero DiscSpeed and was able to successfully erase discs as a regular user. I could not burn images with that program though since it uses some low-level commands that bypass Windows.
I then downloaded InfraRecord to burn an ISO image, and it worked perfectly without admin rights.
If the Microsoft link isn't working here is a summary of the steps:
I tested this on a Windows XP PRO 64-bit SP2 machine with a SATA DVD burner.