Here is the full list of all 12 Sonic CD achievements. It takes around 6-8 hours to unlock all of the achievements on Windows.
Destroy all the robot teleporters and Metal Sonic holograms in the past
Complete a zone in the Good Future
Collect all the Time Stones
Find the angel statue in Wacky Workbench
Collect 200 Rings
Defeat Metal Sonic without getting hurt
Pass the upper Signpost in Collision Chaos Zone 2
Complete the Time Attack mode in under 25 minutes
Finish the game
Destroy Dr. Eggman's final machine
Travel through time
Get a hug from Amy