CD-Sunrise is a good, tiny, and free driver. It does not support audio playback, however, but if you're only interested in using the devices for data, then that's a terrific driver. I have yet to encounter a drive that does not work with it.

If you want audio support, get Apple's own v5.3.1 drivers. Both are available from:

http://www.macdrivermuseum.net/disk.shtml

You may also want desktopmgr to prevent attempts at rebuilding the disc's desktop. System 6 tries this with a lot of discs. Very annoying. This will take care of that:

http://home.earthlink.net/~gamba2/download/desktopmgr201.sit.hqx