Yes - burn a CD-R from the ISO. But be aware that it may be picky about what CD media it will read. My B&W G3 has a DVD drive that doesn't like CD-Rs and I need to burn CD ISO images onto DVD-R media.
Your machine, a PowerMac1,1, can't boot from USB but will be happy with a CD/DVD. Later machines - G4 PowerMacs and even the G3 PowerBook - have firmware that boot from USB. USB is part of the "New World" but the PowerMac1,1 was perhaps the first machine to get the New World ROM but it's not up to snuff with USB support.
And to re-iterate: you really should install Tiger on this machine.