If on a single post or page, remove the default page or post title, then place it within the 'genesis_header' section.

functions.php

<?php

add_action( 'genesis_header', 'sample_genesis_header' );
/**
 * Callback for Genesis 'genesis_header' action.
 *
 * If on a single post or page, display the post or page title within the header area.
 * 
 * @return None
 */
function sample_genesis_header(){

	//	if not single page or post, return
	if( ! is_singular() )
		return;

	//	display the post title
	genesis_do_post_title();

}

add_action( 'genesis_before_entry', 'sample_genesis_before_entry' );
/**
 * Callback for Genesis 'genesis_before_entry' action.
 *
 * If on a single post or page, remove the default Genesis post or page title.
 * 
 * @return None
 */
function sample_genesis_before_entry(){

	//	if not single page or post, return
	if( ! is_singular() )
		return;

	//	remove all default header hooks
	remove_all_actions( 'genesis_entry_header' );

}