I suggest using exhaust specific paint. That paint is usually labeled VHT, which means very high temperature, and it should handle the temps your exhaust pipes reach. engine paint will not handle those temps. It is very important to prepare the surface of the exhaust header beforehand, apply a primer, and then apply the paint. When the painting is complete, you MUST cure the paint if you want the best results. The curing instructions are on the paint can, and are going to be very clearly labeled.
I Used VHT paint on an exhaust a while back and it held up great. It will likely chip a bit due to road debris, but you can always touch up small spots.
Good luck
Camelman