The two options by David are good suggestions. Circos doesn't have a dedicated track label function, at the moment.
However, you can create labels using text plots.
I've attached an example where I do this for three plots, which are histogram plots.
The labeling is done using a single data point which includes parameters. All labels are at hs1:0 position and the "dummy" value is replaced by the value of the parameter for each track.
hs1 0 0 dummy t1=ABC,t2=DEF,t3=GHI
Each label needs its own plot track, so that it has the right radial position. In this example, each label track defines a parameter tidx that defines which track the label applies to. Using the value of this parameter, the radial position and actual label text are determined.
This isn't an ideal solution because the label is not wrapped around the circle -- it is linearly oriented text. However, for short labels, this approximation is fine.
<plot>
tidx = t1
# label.conf uses value of tidx -- this is the only variable
# that is changing, so that we can reuse the configuration
<<include label.conf>>
</plot>
<plot>
tidx = t2
<<include label.conf>>
</plot>
<plot>
tidx = t3
<<include label.conf>>
</plot>