Shortcode Not Working in Slider When Added To Post Title

do_shortcode() returns the content you pass it with the shortcodes, if any, filtered out (ie, processed).

So the code you’ve posted in your question won’t work the way you want it to:

do_shortcode( get_the_title() );
printf( 
    '<h2><a href="%s" title="%s">%s</a></h2>',
    get_permalink(),
    the_title_attribute( 'echo=0' ),
    get_the_title() 
);

Instead you’ll need to do something more like this:

$title = do_shortcode( get_the_title() );
printf(
    '<h2><a href="%s" title="%s">%s</a></h2>',
    get_permalink(),
    the_title_attribute( 'echo=0' ),
    $title
);

or

printf(
    '<h2><a href="%s" title="%s">%s</a></h2>',
    get_permalink(),
    the_title_attribute( 'echo=0' ),
    do_shortcode( get_the_title() )
);