I guess you're looking for pie3D.labels
. E.g.:
library(plotrix)
vec <- sample(1:10)
labs <- paste('piece \n no', 1:10, sep = " ")
par(mfrow = c(2,1))
a <- pie3D(vec, radius = 0.8, explode = 0.05, mar = c(1,1,1,1))
pie3D.labels(a, radius = 0.8, labels = labs, labelcex = 0.7)
b <- pie3D(vec, radius = 0.8, explode = 0.05, mar = c(1,1,1,1))
pie3D.labels(sample(seq(0, 2*pi, 0.1), 10), radius = 0.8, labels = labs, labelcex = 0.7)
The plot: