You should be interested in http://plantuml.sourceforge.net/teoz.html
@startuml
!pragma teoz true
Alice -> Bob : hello
& Bob -> Charlie : hi
@enduml
We are not going forward as quick as we wish on this. Work is still in progress.
Allowing to have text beyond the arrow should be possible with this new layout engine. However, we want first to finish to code existing features before adding new one, so please be patient :-)
Thanks for your suggestions!