If I'm understand you correctly, you want to add track IDs without the Red Book standard 2 second gap.
For a long time CD Architect was the only program that would allow you to place track IDs in a continuous program without the gaps. I don't know if this is still the case. CD Architect is the only program I've used for years.
As I said I do it all the time with Samplitude. Samplitude has been my primary program for years <smile>.