I just found out how It is possible
I wrote following code and it perfectly worked!
UIBarButtonItem * backButton = [UIBarButtonItem new];
UIView * backButtonView = [UIView new];
[backButtonView setFrame:CGRectMake(0, 0, 90, 32)];
UIImageView *backButtonImage = [UIImageView new];
[backButtonImage setImage:[UIImage imageNamed:@"Setting/back.png"]];
[backButtonImage setFrame:CGRectMake(-15, 0, 30, 30)];
UILabel * backButtonLabel = [UILabel new];
[backButtonLabel setFrame:CGRectMake(8, 0, backButtonView.frame.size.width, 30)];
[backButtonLabel setBackgroundColor:[UIColor clearColor]];
[backButtonLabel setTextColor:[UIColor whiteColor]];
[backButtonLabel setTextAlignment:NSTextAlignmentLeft];
[backButtonLabel setFont:[UIFont fontWithName:@"HelveticaNeue" size:18]];
[backButtonLabel setText:title];
UIButton *customBackButton = [UIButton buttonWithType:UIButtonTypeCustom];
[customBackButton addTarget:target action:action forControlEvents:UIControlEventTouchUpInside];
[customBackButton setFrame:CGRectMake(0, 0, 90, 30)];
[backButtonView addSubview:customBackButton];
[backButtonView addSubview:backButtonImage];
[backButtonView addSubview:backButtonLabel];
backButton = [[UIBarButtonItem alloc] initWithCustomView:backButtonView];
[backButton setAction:action];
[self.navigationItem setLeftBarButtonItem:backButton animated:YES];