There are a few ways you can do it.
1. You can use css to hide it by adding this to your style.css –
.home .entry-title {
display: none;
}
2. You can use a plugin called Genesis Title Toggle which gives you an option to remove it in your settings – https://wordpress.org/plugins/genesis-title-toggle/
3. You can also add an action/code in your functions file to remove it if you want, but the first two should be all you need without needing to deal with the code if you don’t want to.