Display Custom Menu title

Hi,
thanks again for your plugin.
There’s a way to dynamically display the custom menu title before the menu itself?
I know I can create a simple ACF text and set it as the menu title, but it may be possible to use the custom menu title itself.
I’ve found this:
http://wordpress.stackexchange.com/questions/32913/show-custom-menu-name-in-wordpress-3

I’m using “Nav Menu HTML” to display the menu.
Should I use object or ID? How to get both the menu name and the menu items?
Hope you can help me,
thanks

http://wordpress.org/plugins/advanced-custom-fields-nav-menu-field/