Display custom taxonomy attached to the post on post single page

You can get every Taxonomy by

$categories = get_the_terms( get_the_id(), $taxonomy-slug );

if ( is_array( $categories ) ) {

    foreach ( $categories as $category ) {
        echo '<a href="' . get_term_link( $category->term_id ) . '" title="' . sprintf( __( "View all posts in %s" ), $category->name ) . '" ' . '>' . $category->name.'</a> ';
    }

}

Just fill in the slug of your custom taxanomy, and you are good to go.

If you just want to output the first Name, make a break after the echo.

get_the_terms() returns an Array of Taxonomyobjects, and you can easily output the first one.