Don't use regular acrylic paint or standard wall enamel, because tile is a non-porous surface and the paint will chip as soon as it's exposed to the heat and humidity in your kitchen. And don't try painting straight onto it without properly preparing the surface - that's the most common mistake.
What you need is epoxy paint specifically made for tiles or ceramics, or two-component acrylic paint designed for difficult surfaces. The primer is essential though: use an adhesive primer or multipurpose primer that grips well on glossy surfaces. The process is to clean the tiles thoroughly (use degreaser to remove grease), sand them lightly with fine-grit sandpaper to dull the shine, apply the primer in two thin coats, and then the epoxy paint in two or three coats depending on the brand. Let it dry properly between coats - usually 24 hours.
Epoxy paint is more resistant to impact and moisture than other options, so it holds up better in a kitchen. Sure, it's a bit pricier than regular paint, but it's way cheaper than replacing tiles and it'll last you years without chipping if you do it right. Make sure you pick one that's suitable for wet areas and, if possible, one with stain protection, because kitchen tiles take a beating.