Mark the location of the towel bar on the tile with a pencil. Most towel bars have brackets that require two screws each. Decide where you want the bar located on the wall, hold it up to the tile and mark off the spots for the holes.
Apply masking tape in an "X" over the pencil mark. The center of the "X" will be the spot where you drill. This tape will help prevent cracking the delicate tile and will give your bit something to bite on before it can get through the glaze on the tile.
Pre-drill the holes for the brackets with a drill equipped with a carbide bit. Use a bit that is slightly smaller than the screws for the brackets. You will hear a grinding noise as you go through the tile. That will fade once you reach the drywall behind it. Do not press too hard on the drill to "force" it, just use a normal grip.
Attach the brackets to the walls with a cordless screwdriver and screws. Insert the top screw first and tighten it. Repeat with the second screw. Move to the next bracket and install the screws.
Insert the towel bar between the brackets. Fit it in securely. You may need to twist it back and forth to seat it in firmly.
Grout around the edges of the brackets. Lay down a 1/4 inch bead of grout. Use the bottom of a spoon to smooth out the edges. Scrape off any excess with a knife blade. Let the grout set for 12 hours before using the towel bar.