Wordpress - Calling the Menu Title within wp_nav_menu array function

You can not get the menu title using wp_nav_menu(), you need to get the menu object as follow:

//Change with the ID of your menu
$menu_ID = 5;
$nav_menu = wp_get_nav_menu_object( $menu_ID );
// then echo the name of the menu
echo $nav_menu->name;

With the above code, you can insert the menu name in wp_nav_menu() using items_wrap parameter. For example:

$menu_ID = 5;
$nav_menu = wp_get_nav_menu_object( $menu_ID );
wp_nav_menu( array(
                 'theme_location'  => 'resources',
                 'container'       => 'div',
                 'container_class' => 'rmm-footer',
                 'items_wrap'      => '<ul><li id="item-id">'.$nav_menu->name.'</li>%3$s</ul>'
             )
);