Corbel is the correct term, although I have seen other people refer to the shelf as a nib. In my experience, corbels are the source of more structural distress than any other typical element. They have to be considered as non-flexural elements and designed using truss analogy (or strut and tie) methods. Development of the reinforcement at the end of the corbel is critical, along with hanging bars to transfer the load up and down behind the bearing surfaces. Remember there is a corbel both on the main beam and on the supported beam in your example.
There is no torsion on the corbel itself, but rather the torsion is taken by the whole beam. With precast construction, the construction stability issue is overturning rather than torsion.