How to pretty output of grep for searching within markdown files?

I have a knowledge base (aka Zettelkasten) of markdown files. And I use searching with the next command grep -irn 'search request' *.md. All works fine. But I'd like see output with the title of the file and sub header of the found string. The sample ### file.md

1 # Title
2
3 ## Subtitle
4
5 yada-yada

### Output

> grep -irn 'yada' *.md

< file.md:5:Title:Subtitle:yada-yada

Can I do this with grep without multiple search in the file? An analogue of [recall](https://www.lesbonscomptes.com/recoll/pages/index-recoll.html) for terminal would be ideal.