No officially-released version of DOS contains generic CD-ROM drivers; the last few DOSes (MS-DOS 6.x, DR-DOS 6/7) contain the redirector (`MSCDEX.EXE` or equivalent) but not the device driver.
From 1992, Windows 3.1 rapidly took over.
The first mass-market CD-ROM drives were the mid-1990s, and ATAPI CDs that could attach to an EIDE interface only became common in the latter half of the 1990s, when Windows 95 was the default PC OS.
Microsoft never shipped any version of Windows 3.x on CD; I used to have a Gateway 2000 WfWg3.11 CD in my travelling toolkit, just in case. Windows 95 originally shipped on 13 1.4MB floppies.
