Jordan finished with 7-of-10 shooting from the field including three from distance for the Panthers (14-6, 5-2 Horizon League). Matt Tiby added 14 points and J.J. Panoske and Akeem Springs had 12 points apiece.
Detroit trailed 20-13 midway through the first half but surged 15-3 after that to go ahead 28-23 with 3:56 left in the period and the Titans (9-9, 3-4) led 37-31 at the break.
Johnson sank a 3-pointer and a layup as part of a 16-10 Milwaukee surge to start the second half that tied the game, 47-47, with 16:01 to play. A dunk by Tiby sparked an 11-5 run that gave the Panthers a 66-60 lead with 9:08 remaining and they never trailed after that.
Chris Jenkins scored 20 points and grabbed six rebounds for the Titans.