You are looking for Scaleforms.
Specifically mp_mission_name_freemode
Example in C#:
// define
private Scaleform missionNameScaleform = new Scaleform("mp_mission_name_freemode");
// run in Tick
missionNameScaleform.CallFunction("SET_MISSION_INFO", $"Legion Seoul ({timeString})", $"~o~Drag Race", "", "", "", false, "", "", "", "");
missionNameScaleform.Render3D(MarkerPosition, gameplayCamRot, new Vector3(3f, 3f, 3f));
Examples LUA:
https://gist.github.com/IllusiveTea/7fc0f7bcc1bf4f80dceeb2eeba0e3ed1
List of scaleforms and their functions https://scaleform.devtesting.pizza/
Some documentation: Scaleforms