Any disc burning software can do this. Rather than use Write Image File To Disc or Burn ISO Image you use the Write Files/Folders To Disc or Data Disc.
ImgBurn is often considered the best free burner; it has, arguably, the most comprehensive toolset. But CDBurnerXP, Burnaware and InfraRecoder are amongst several other good alternatives - I've used them all with minimal or no problems.
With CDBurnerXP and Burnaware make sure to find downloads without the non-optional PUP Open Candy Adware included. If you look carefully Burnaware does link you to an Open Candy free mirror but I think with CDBurnerXP you may have to go to a "software plus service" web site like Ninite where their downloads are stripped of that sort of unwanted stuff.