Hi there!
Thanks for your query.
There is no default way to do that. You may try the following code in your custom CSS:
a#offcanvas-toggler:after {
content: "Menu";
}
.burger-icon {
display: none;
}
Hope it will give you the desired thing.
Note: Path towards custom CSS(Joomla 4): System>Site Templates Styles> Click on your current default template name then choose Template Options. Then find custom CSS within the custom code.
https://prnt.sc/5mBuSRh907N3
https://prnt.sc/ooiq-lkMEXr_
https://prnt.sc/nunlX-f5AhK1
Best Regards