Topic taxonomies display hierarchical topic structures of a text corpus and provide topical knowledge to enhance various NLP applications. To dynamically incorporate new topic information, several recent studies have tried to expand (or complete) a topic taxonomy by inserting emerging topics identified in a set of new documents. However, existing methods focus only on frequent terms in documents and the local topic-subtopic relations in a taxonomy, which leads to limited topic term coverage and fails to model the global taxonomy structure. In this work, we propose a novel framework for topic taxonomy expansion, named TopicExpan, which directly generates topic-related terms belonging to new topics. Specifically, TopicExpan leverages the hierarchical relation structure surrounding a new topic and the textual content of an input document for topic term generation. This approach encourages newly-inserted topics to further cover important but less frequent terms as well as to keep their relation consistency within the taxonomy. Experimental results on two real-world text corpora show that TopicExpan significantly outperforms other baseline methods in terms of the quality of output taxonomies.