Download the video from youtube with a website like
www.keepvid.comYou can play that video in VideoLAN(a very flexible player).
If you want to extract just the Audio.
Download Videodub
Open the video. Do file..save wav
that saves a big sound file of the sound from the video.
(mp3 files are smaller, but yours is saved as WAV, unless you convert it)
A CD burning program should be able to burn a sound file to CD.
CDBurnerXP is good. That can probably do sound file to Audio CD.
I don't listen to music, so I can't be sure but that's the idea. The big thing was taking the sound from the video. Others will know for sure how to burn the sound file to a CD.
When I say to a CD. I guess you mean so it will play in a CD Player, not just so it plays on a computer when you double click a afile.
Make sure the CD is a CD-R , not a CD-RW.
CD-R is more compatible with CD players. CDRW may not work in cd players.