The SE/30 actually cannot boot from a CD. Most Macs made prior to 1991 cannot. All SCSI-equipped Macs, however, can utilize a CD-ROM provided a driver is installed in their system folder. (I actually ran a CD-ROM on a Plus with System 6 for a while, so anything is possible).
Apple-branded SCSI drives require the Apple driver. There's one on Apple's website which requires at least System 7.1. System 7.5.3, also free on Apple's site and liked above, should have this driver included. This driver needs to be slipped inside the extensions subfolder of the system folder.
If you have a third-party drive, your best bet is to buy a copy of FWB CD-ROM Toolkit. Version 1.x plays nice with System 6 if you're looking for that capability. (On System 6, the driver should be placed directly in the System folder).
A word of warning--make sure your CD-ROM drive is configured correctly from a SCSI standpoint. If you need a terminator, make sure you get one. Also, avoid conflicts by checking SCSI ID numbers. They shouldn't match any other device on the chain, nor should they be either 0 (reserved for the internal HD) or 7 (which is the Mac itself). I usually made all my CD-ROM drives number 3 on the selector so I could better keep track of them. A CDEV such as SCSI Tools or SCSI Probe can help identify SCSI conflicts.