The list title is available in the Title property of for example a view on the list (AllItems.aspx). My research so far show that the Title managed property of AllItems include both the site and list name separated by a -.
So, there is no way to get the list title as part of a list items managed properties today, without adding a column to the list containing the list name itself. It's a bit sad as SiteTitle is a managed property of list items. One would think ListTitle should be as well, but I have yet to discover any crawled property for this.
You can use ListID to use script to look it up, but a bit cumbersome indeed.