FFMPEG add chapters through CLI

[Underscore]

Hello, I've recently gotten into using ffmpeg and was wondering if there was a way of adding chapter markers entierly through the command line interface?
I have had sucsess with first writing out a metadata text file, then manually editing it and then splicing it together with the original video file into a new file.
This is alittle bit of a drag though and it would be much more preferable if it could be done entierly through some extra flag or through a single command.
Something like: ffmpeg -i videoname.mp4 -add_chptr START=00:00:00.000 title:"video title"
 

Does anyone know if something like this exists? I could not find something about it in the help page but the documentation seem to be almost endless to me.

Thanks for the read!