gems2rom

gems2rom is a program that can create a playable jukebox ROM from a game's GEMS driver files as produced by GemsScan. These jukeboxes are acceptable to rip from, and easy to create for non-hackers.

This isn't really better than an in-game sound test; for one reason, you must manually set the tempo of tracks that use a different tempo from the default (128), and tracks that dynamically change tempo can be a problem. But if there are no such songs and no in-game sound tests (or there are songs that can't be reached without hacking), that's no issue.

Another, smaller issue is that gems2rom uses the GEMS 2.8 engine even for games that used GEMS 2.0. The difference (if any) is perfectly acceptable for VGMRips packs, even though it may result in some playback differences due to bug fixes in the engine. But if this troubles you, you can ensure complete accuracy by hacking the game to rip the songs.