Continue to research on how to rip audio from VOB files. I finally decided to use DGIndex to demux the audio in AC3 format and use ffmpeg to convert it to wave files. These wave audio waves were then later burnt into an audio CD using Nero.
While trying to compile ffmpeg using MinGW, I discovered something called MSys. A minimal unix environment that allow users to perform "configure" and make in Windows. It has a bash shell and rxvt terminal. Not bad after all.
However, the ffmpeg compiled was not usable. I had to use the ffmpeg.exe distributed by super. Its ffmpeg.exe is compiled under cygwin environment. It has all the stuff properly enabled.