CDex is a free program (for Windows), you can download it from
https://cdex.mu/download
Install it on your Windows computer (with a CD drive and a USB port).
You'll need to supply an email address to be able to access the on-line free database of CD tracks and titles on-line (which is optional). If you don't though, you'll need to type the names yourself. Otherwise everything winds up named "Track 1" "Track 2" and so on.
I suggest also setting up a directory (C:\Music here) to receive your MP3 files.
Then, with CDex running, just put an audio CD in the drive. Wait a few seconds for the program to identify the CD and look up the names (or enter the names yourself). You should wind up with a display like this:
Hit F9 to start the conversion process (commonly known as "ripping" the CD). You should see a popup kind of like this while it works:
When it's done, you should have a new directory with all the MP3 files that were just created from your CD:
PS, there should be similar software available for Macintosh/Apple, but I don't know anything about it. iTunes has always been a frustrating experience for me, and rarely does what I want.