If you're lucky the title screen will be completely in tact and you just have to find it in the ROM with a tile editor like Tile Molester.
If you aren't lucky, then the title screen will be broken into parts, and you may have to use a hex editor like Windhex to re-order the tiles after you've modified the tiles in Tile Molester.
Last of all if you're very unlucky, you may not be able to find the title screen at all if it's compressed or something.
The method of title screen hacking I generally use can be found in this document, written by.. me. I just used that very technique a couple of weeks ago to hack a Super Gameboy Border, which isn't much different from a title screen. The numbering method can be a bit tedious if you're working with a large title screen, but as long as you have a bit of patience, it works well.
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