to avoid issues, i will assume your cd is cd-rw media and that the files were burned from the same cd-rw drive you are now using to delete certain r-only files.
if you had first formatted the cd-rw media as cd-rw (packet format), then yes, you can delete files like deleting files from your hard drive. if it's read-only, and you are not using microsoft xp, then you have to first remove the read-only attribute of the file before you can delete it.
if you had burned a set of files onto the cd-rw media like a normal write-once cd media (block format), then no. you cannot just delete a file. you have to open the cd burning software, read back the original file list, and delete files from the list, and re-burn it onto the cd. those files that have been deleted can still be read from some isobuster-like applications. if it's cd-rw media, might be easier to reformat the media.
if you use microsoft xp, it hides the difference between the 2 formats and just does in the background what you'd expect a delete command would do on a hard disk to the cd media, rw or write-once, respectively.