How to get permalink and title from post ID?

I have stored an array of post IDs and I would like to list the posts as links, meaning I need to get the title and permalink for the post ID – $id. The list should be echoed out by the following if condition, which means I somehow have to replace $id with the permalink and title. At the moment the code merely lists the post ID numbers.

<?php
  if(count($related)){
    echo "<div>Read More<ul>";
    foreach($related as $id){
       echo "<li>$id</li>";
    }
    echo "</ul></div>";
  }
?>  

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