How can we have recurring related fields on custom report?
If you're using CiviCRM 4.6, there's now a CiviCRM report template that uses the recurring contribution table as a base and gives you access to a bunch of those related fields.

I've got a custom extension here: https://github.com/adixon/ca.civicrm.contributionrecur
which backports that report to earlier CiviCRM versions, and also adds a few more fields.

I notice in your picture you are actually trying to export records, presumably to generate a report in a separate piece of software. You can do something similar from any (CiviCRM) report, i.e. it has a csv download option, and the ability to select which fields to show.