Mysql database connector table or keys
A connector table is the standard way to solve this sort of problem.

As you say in your question, if you have a TitleID column in the Authors table it restricts you to one Title per Author, unless you add a Title2ID, Title3ID, etc columns, which for someone like Stephen King might mean quite a few columns.....

Also, by having the  connector table you can deal with cases where a Title has more than one Author.