Passthrough reading and recording (a.k.a., "burning") are not supported by Qubes OS. This is not a limitation of Xen, which provides scsiback and scsifront drivers, but of Qubes OS. It will be fixed in the future.
To access an optical disc via USB follow the [typical procedure for attaching a USB device](/doc/how-to-use-usb-devices/#with-the-command-line-tool), then check with the **Qubes Devices** widget to see what device in the target qube the USB optical drive was attached to.