I'm not entirely sure what you're after, but does this help?
select Item.ItemID, Item.Title, Tag.TagID, Tag.Title from Item, Tag
where Item.ItemID=Tag.ItemID
When you say you don't want to do 11 queries, do you mean you don't want to do 11 SQL queries, or you don't want to receive your results in 10 rows? If the latter, then I think it really just means you need to loop through the results in whatever language you're using to call SQL. E.g., in PHP:
$query = "select Item.ItemID as i, Item.Title as t1, Tag.TagID as t, Tag.Title as t2 from Item, Tag where Item.ItemID=Tag.ItemID";
$dataset = mysql_query($query) or die(mysql_error());
$items = Array();
while ($data = mysql_fetch_assoc($dataset))
{
$items[$data['i']] = Array($data['t1'], $data['t'], $data['t2']);
}