KANSAS CITY, Mo. — Madison Bumgarner pitched five innings of near-perfect relief and the San Francisco Giants held off the Kansas City Royals 3-2 Wednesday night in Game 7 of the World Series for their third championship in five seasons. With both starters chased early, this became a matchup of bullpens. And no one stood taller than the 6-foot-5 Bumgarner, who added to his postseason legacy with a third victory this Series.