I just plan on RER B from Gare Nord to CDG. It's a ten euro ticket (looks like a regular metro ticket). I've been through the area several times when it was crowded enough that there was a line for the ticket machines. I'd give yourself a little extra time for that, once on the train it's a fairly reliable 45 minutes until you can get off at CDG. The RER has two stops, one for Terminal one and three and another for Terminal two. Know which terminal you want to get to before you start so you can get off at the correct stop.
I took this train yesterday for my flight home from Paris. A couple things I noticed. There are two RER destinations going north, the route forks. No problem as long as you take the one that says the destination is CDG. While I was waiting the boarding area at Gare Nord was really full and the first train was just too packed so I waited for the next. The next wasn't going to CDG but was then "en retarde" (late) after waiting a number of minutes, the train following that was supposed to go to CDG changed to the other. I decided to get out of the station and move a few stops north (still on both lines) just to get away from the crowds, then waited there for the train to CDG.
The RER has a list of airlines and their terminals near the door on the train. I don't know if they are all wrong but the one I wanted was wrong. I thought I was going to Terminal one but the list said Terminal three. I walked over to Terminal three, asked information, then walked back to Terminal one. Don't rely on the information on the train. I was on WOW airline, the others might be more predictable and the information more reliable.