Or you could just take your existing code for the title tag and add the {strip} tag. This tag strips out all the extra line feeds in HTML.
Example from 3.5.x:
Code:
{strip}
<title>{$lng.txt_site_title}
{if $main eq "catalog"}
{if $location eq ""} {$lng.txt_subtitle_home}
{else}
{strip}
{section name=position loop=$location start=0 }
{if %position.last% eq "true"} - {$location[position].0|escape}{/if}
{/section}
{/strip}
{/if}
{elseif $main eq "product"}
{if $product.product ne ''} - {$product.product}{/if}
{elseif $main eq "help"}
{$lng.txt_subtitle_help}
{elseif $main eq "cart"}
{$lng.txt_subtitle_cart}
{elseif $main eq "checkout"}
{$lng.txt_subtitle_checkout}
{elseif $main eq "order_message"}
{$lng.txt_subtitle_thankyou}
{elseif $main eq "wishlist"}
{$lng.txt_subtitle_wishlist}
{elseif $main eq "giftcert"}
{$lng.txt_subtitle_giftcerts}
{/if}
</title>
{/strip}