Is there a simple program that will save an audio stream?

[AlainDelon]

I like to listen to commentaries even without seeing the film at the same time.I remember using multiple programs to demux and recode to mp3 but it was too time consuming.Is there some solution that will rip out an mp3 audio stream in one step?

[nwg]

DVD Audio Extractor. It is commercial but it is worth the money.

http://www.castudio.org/dvdaudioextractor/