Text Generation Wizard can do what you want.
It can create titles at markers or events. Appearance is fully customizable and is based on the selected text preset.

In addition, you can import titles from CSV files (comma separated file) and other formats.
It can be easily prepared in Excel.
eg.:
“00:00:00,000″,”00:00:05,000″,”Title 1”
“00:00:10,000″,”00:00:15,000″,”Title 2”
“00:00:25,000″,”00:00:30,000″,”Title 3”
All the best.