How to display panels region title?
You can create a template for your panel and add whatever div or wrapper you need there, by wrapping it around the content div. This post is a great resource:
https://www.drupal.org/node/1678810

In brief, for panel panes, your template file should be named:
panels-pane--[pane type]--[pane subtype].tpl.php

This post also shows you how to find your panel's machine name.

If you aren't familiar with templates, this is also a great resource:
https://www.drupal.org/documentation/theme