I create a quick mockup to demonstrate the idea… In this scenario, it shows an instance for related Pages and one for a custom post type called “Whitepapers”
http://swept.co/_dev/related-link-expanded.png
This is what I was looking for:
<?php $related_links = get_related_links('page'); ?>
<ul>
<?php foreach ($related_links as $link): ?>
<li><a href="<?php echo $link['url']; ?>"><?php echo $link['type']; ?>: <?php echo $link['title']; ?></a></li>
<?php endforeach; ?>
</ul>