Is there a way to restore a Titanium backup from PC to a crashed ROM? If I have complete Titanium backup copied to my PC (where I imagine the ROM is copied too).

More than 200 files.

Now I have a crashed ROM (boot looping). 

Is there a simple way to restore this backup to my phone via USB without installing a new ROM (nor TWRP)?
If you can't install TWRP, what about booting it for once?

Download a valid TWRP image and reboot your phone into bootloader, and run on computer:

fastboot boot twrp.img


Then you can use adb push to transfer the files.