I've used EAC to do this. Instead of ripping individual tracks, tell it you want to "Copy Image & CUE Sheet." That will make a single WAV file of the entire CD, then you can convert to MP3 from that.

If you’ve bought audiobooks from iTunes in the past, but now want to move them to another device such as an Android phone, you’ll most likely need to convert them from the M4B format to MP3. We show ...