With Exposé's 'all windows' view active, start typing the name of a window to highlight it. Type as much of the name as you like (including spaces and periods) for the desired window. For instance, typing untitled 4 will get you that window instead of untitled 3, etc. Type quickly, though!
After the proper window is highlighted, press Return to make it active and exit Exposé.
While testing this, I once noticed that Exposé didn't register the change of name of a window -- it still registered as Untitled, even though I could see the correct name in the toolbar.
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