How to "attach " text to object?

Can anybody point me to resource explaining how to do this?
An example:
I have basic Cartesian coordinates “lines” on frame and I like to add text (annotation) to each line at specific point - such as "x " “-x” and have it "follow " the coordinates rotation.
I am sure I am not using correct terminology of this process, hence I have hard time asking Mrs Google.

Sample code woudl be nice, but not necessary.

( another example could be to add “dots” on cube and make real dice ")

Hi JulyJim,
Here is the first googl-item on GLUT + text

" A rose by any other name would smell as sweet "
But in this case knowing the terminology is majority of the battle…