Remove page titles on... pages.

functions.php

<?php

add_filter( 'genesis_post_title_output', 'custom_genesis_post_title_output' );
/**
 * Callback for Genesis 'genesis_post_title_output' filter.
 * 
 * Remove the title if on a page
 * 
 * @package Genesis
 * @category Post Title
 * @author Ryan Meier http://www.rfmeier.net
 * 
 * @param string $title_output The post title output
 * @return string $title_output The post title output
 */
function custom_genesis_post_title_output( $title_output ){
  
  	// if currently on a page, return empty string
	if( is_page() )
		return '';
	
	// else, return default title output
	return $title_output;
	
}