Exact Audio Copy
Full user review
"It does what it says it will do"
It is free & easy to use after just a bit of practice.
It is not particularly intuitive.
I used Ed Rhee's guide on Cnet. He seemed pretty happy with it. Some of it is not intuitive eg you click an icon labelled CMP if you want to convert the CD tracks to FLAC. CMP means "compressed".
It did a good job & it is free.