Encrypt CD / DVD

I was wondering if anyone knows a solution that will allow me to encrypt CD / DVD. Basically, we ship many CDs with sensitive information and I would like to encrypt that in such way that, when someone places the CD in the drive he should be prompted for a password – if correct then the data should be available. I cannot afford to install any client or extract any data on client’s computer.
Appreciate any suggestions.
Thank you.
AV