Thanks @fefrei, that seems to work, but as you mentioned it might not cover all the edge cases. I did have to change the first line SELECT title FROM users to SELECT username FROM users as I was looking for the usernames, not the custom titles.
@Mittineague was able to create a query that seems to work as well
SELECT
users.username
, users.title
FROM users
JOIN user_profiles
ON user_profiles.user_id = users.id
WHERE users.title IS NOT NULL
AND users.title NOT LIKE ''
AND user_profiles.badge_granted_title IS NOT TRUE