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In the PC version of Sonic R, textures and graphics are stored in RAW image files. You can open them with Paint Shop Pro 5-8, and probably with numerous other decent image editors. When you click on the *.RAW file, you'll be shown this menu:

You'll need to set colour channels to Three channel (RGB) and file structure to Interleaved. The image size, or resolution, depends on how large the file is that you're trying to view. Here are the resolutions you'll need for every RAW file on the Sonic R disc:

File size	Image size/resolution (width x height)
900kb	640 x 480
624kb	1664 x 128
192kb	256 x 256
48kb	128 x 128
23kb	96 x 80
21kb	32 x 224

The images can now be viewed and, as long as you've installed the game onto your hard drive, edited.