A new timing detector measuring ~50 MeV/c positrons is under development for the MEG II experiment, aiming at a time resolution $sigma_t sim 30~mathrm{ps}$. The resolution is expected to be achieved by measuring each positron time with multiple counters made of plastic scintillator readout by silicon photomultipliers (SiPMs). The purpose of this work is to demonstrate the time resolution for ~50 MeV/c positrons using prototype counters. Counters with dimensions of $90times 40times 5~mathrm{mm}^3$ readout by six SiPMs (three on each $40times 5~mathrm{mm}^2$ plane) were built with SiPMs from Hamamatsu Photonics and AdvanSiD and tested in a positron beam at the DA$Phi$NE Beam Test Facility. The time resolution was found to improve nearly as the square root of the number of counter hits. A time resolution $sigma_t=26.2pm1.3~mathrm{ps}$ was obtained with eight counters with Hamamatsu SiPMs. These results suggest that the design resolution is achievable in the MEG II experiment.