Shelves onto cinder blocks/concrete?

TAPCON nails used in the hammer gun can split the block in some cases if the block is old. They’re best used for concrete.

use Tapcon concrete screws and an electric drill with the appropriate sized hex driver bit. It’s all you need. Lag a few boards to the wall as mentioned and just build the bench frame off that. Put legs to the floor. Top with ply or MDF board