What they need to do is to convey an interest to themselves and record a new deed. Nowadays in most states they can do this without a strawnan, which is required only in a handful states. Both hu*****and and wife will be on the title as joint tenancy with a right of survivorship such that if one spouse dies, the other will take over the entire interest by right of survivorship. In a few states, this can be a tenancy by the entirety since they are married. Time wise, instead of holding a fee interest of some sort, they will hold a life estate, with a remainder vested in their daughter. Since the daughter has only a future interest, which does not become present until the expiration of the life tenancy, she cannot sell it without a joinder of the life tenants or until she has possession of the house. All they need to pay is recording fee.
Of course this can be accomplished by a will or a trust. It is not immedialy clear to me the benefit of a trust. A will, on the other hand, must be probated, which is time consuming and costly.
