CD-R for audio CDs. CD-RW can be erased and rewritten many times whereas CD-R cannot be erased or rewritten - once the session is closed you cannot add any more data to it. The 'quality' of the recording is dependent on the burner and the quality of the media, regardless of whether its format is CD-R or CD-RW. CD-RW discs are much more expensive than CD-R so unless you want to have one disc that you continually re-write (say to make a new mix CD for the car), stick with CD-R.
There are only a handful of manufacturers that make blank discs - Mitsui, Taiyo Yuden, and Maxell to name the most popular. You cannot know which manufacturer made the disc based simply on brand name; eg 'Memorex' CD-R may be made by TY for some batches, but Mitsui for others. Additionally, there are at least three different formulations of dye and reflective layer on the discs: cyanine, pthalocyanine, and azo. The combination of dye and reflective layer material (silver or gold usually) results in the color you see when you look at the recording side (eg. azo discs usually appear blue or purple, cyanine with silver reflective layer usually appears green, etc). It really doesn't matter - they are all good. There have been a few studies to try to determine longevity of the various formulations, but none have been conclusive as to which is actually the 'best'.
The firmware of most modern CD burners have 'write strategies' that specify the right power calibration for the laser and other variables for a wide variety of discs so practically any disc will yield good results if you stick with a known brand - just avoid the really cheap discs (like 'Great Quality CD-R that Fry's sells - they are lousy quality, IME). CD burners often recommend a brand/type of media that have been tested to work well with that burner, so that's always a good place to start.