It varies greately with the state law but in some states a title company might be able to handle the paperwork for less than a lawyer would cost. If the house wasn't bought too long ago you could check with the title company that handled the paperwork then to see if this is allowed in your state.
We are transferring a single family home between family in Washington state (no money involved).
Wouldn't that trigger a gift tax if they are not spouses?
It would also be good to also look into capital gains and how that works with gifts. For example if the giver bought the house 40 years ago and it is given to a kid who sells it in ten years, then I would think that the cost basis would be what was paid for it when it was origionally bought 40 years ago. If nothing else it would be good to at least make sure that the paperwork establishing the cost basis is passed on to the person who get the house. Without that paperwork then zero might have to be used as the cost basis.
Depending on the value of the house and the ages of the people involved another option might be to set up some sort of trust that could hold the title of the house and then eventually be inherited at a stepped up cost basis to avoid paying any capital gains taxes.