Depends what you mean.
If you mean you want to set up a bootable CD, with it's own disk icon (disk.info) in the root directory, that's pretty involved. Your best bet would be to have a look at a magazine coverdisk.
If you mean you want icon access to an inserted CD, for it to appear as a disk in Workbench, that's a different matter.
Check Devs/storage. Do you already have a CD0: icon in there? If so, try dragging it to DOsdrivers. Reboot the system.
If not, you might find the mouncd util on aminet of use (you can also mount iso images and other disk images which appear as icons).
https://aminet.net/search?query=mount+cdNo gurantees on this, I remember it being quite awkward on a CD32 and swapping CDs.
EDIT: This package looks more promising, has a cd32 mountlist for a decent filesystem (more likely to correctly identify type of CD);-
https://aminet.net/package/util/boot/KillCD0
