This question is asked a lot because OpenGL does not have built-in support for text fonts. There is a good survey of solutions and discussion here:
http://www.opengl.org/archives/resources/features/fontsurvey/
http://stackoverflow.com/questions/18557535/text-font-rendering-in-opengles-2-ios-coretext-options-and-best-practice
But the easiest solution by far is to use the Print3D class in the PowerVR SDK:
http://www.imgtec.com/powervr/insider/sdkdownloads/index.asp