You should try this,
echo $form[#node]->title;
var_dump($form[#node]);// to test it your node data
As from your array
Array (
[#attached] => Array ([css] => Array ( [0] => sites/all/modules/webform/css/webform.css ) [js] => Array ( [0] => sites/all/modules/webform/js/webform.js ))
[#process] => Array ( [0] => webform_client_form_includes )
[#node] => stdClass Object ( [vid] => 22 [uid] => 2 [title] => title of this webform goes here!!! [log] => [status] => 1 [comment] => 1 [promote] => 1 [sticky] => 0 [nid] => 22 [type] => webform [language] => en [created] => 1373585579 [changed] => 1374117294 [tnid] => 0 [translate] => 0 [revision_timestamp] => 1374117294 [revision_uid] => 8 [body] => Array ( ) [rdf_mapping] => Array ( [rdftype] => ...