well, unless you got the real commodore CD1200 add on to boot straight from CD into the game, its not gonna happen. so you're gonna have to run the CD from workbench.
make a little script to run which adds the CD's system directories to the search path
(assign c: cd0:c add) etc etc. as thats where the game will expect to find its files, and you can either execute cd0:s/startup-sequence, or find and run the game file directly.
or there is a CDTV/CD32 degrader/emulator you can download off of aminet, or get from the IDEfix97 package, you can use for a more streamlined approach.
most CDTV/CD32 games should work as they are mostly amiga rips. you might find you are missing the CD audio though.
its been a while since i tried to run real amigaCD games so your mileage may varey, and i'm sure there are other people here who can help out with much more uptodate info on getting this working :-)