Use DNSServiceQueryRecord in dns_sd.h:
#import <dns_sd.h>
// ...
DNSServiceRef serviceRef;
DNSServiceQueryRecord(&serviceRef, 0, 0, "hmspl.de", kDNSServiceType_TXT,
                      kDNSServiceClass_IN, queryCallback, NULL);
DNSServiceProcessResult(serviceRef);
DNSServiceRefDeallocate(serviceRef);
// ...
static void queryCallback(DNSServiceRef sdRef, DNSServiceFlags flags, uint32_t interfaceIndex,
                          DNSServiceErrorType errorCode, const char *fullname, uint16_t rrtype,
                          uint16_t rrclass, uint16_t rdlen, const void *rdata, uint32_t ttl, void *context) {
    if (errorCode == kDNSServiceErr_NoError && rdlen > 1) {
        NSMutableData *txtData = [NSMutableData dataWithCapacity:rdlen];
        for (uint16_t i = 1; i < rdlen; i += 256) {
            [txtData appendBytes:rdata + i length:MIN(rdlen - i, 255)];
        }
        NSString *theTXT = [[NSString alloc] initWithBytes:txtData.bytes length:txtData.length encoding:NSASCIIStringEncoding];
        NSLog(@"%@", theTXT);
    }
}
See https://developer.apple.com/library/mac/#documentation/Networking/Reference/DNSServiceDiscovery_CRef/Reference/reference.html#//apple_ref/doc/c_ref/DNSServiceQueryRecord