Titanium and stainless steel are very different. Stainless steel is actually quite difficult to clean. It likes to take on mud stains (especially rusty-coloured mud due to its iron content) and will then turn a slight brown/yellow colour that may or may not bother you. Any steel in contact with the frame will leave a permanent rust mark if it does get wet or salty. Titanium doesn't stain like that.
If there's no paint over the stainless and the finish is not a fine sanded finish, an abrasive metal polish does the trick. However, if the finish is satin instead of Chrome-like, you easily polish out the satin finish and turn it chromish. Then you have to resort to a softer metal polish and lots of elbow grease.
Stainless isn't really a nice frame material from a keep-clean point of view.