Yes, you can display a title for your Order Form Fields by adding a group name and enabling it in your theme settings.
To do this:
Navigate to Fields in the app.
Click Edit or Create new field group.
Enter a title under Group Name.
Click Save.
Then, in Shopify:
Go to Online Store and click Customize on your published theme.
On the left side, open up App embeds.
Expand the settings and toggle Show group name.
Click Save.
This will display your chosen title above the form fields on your storefront.