A trust is also a legal entity and the state cannot refuse to title under the name of a trust. It may be a hassle--they might ask for a copy of the delaration of trust or a summary of it. Some marinas or municipalities will only rent a slip to vessels registered to an individual, so as to preclude transfer without their okay.
The typical legal title would be (name of trustee), trustee of the (name of trust) under declaration of trust dated (date)
It might be easier to register as an llc owned by the trust.