Standard procedure is as follows.
1. Install Wincue and set the gap between tracks to at least 4 seconds.
2. Connect your minidisc recorder to the laptop via the headphone socket.
3. Load your desired mp3s into the winamp playlist window, and arrange them as you want them to be laid out on the minidisc.
4. Insert a blank minidisc and hit record.
5. Hit play on winamp, and wait until the playlist is finished.
Simple as that