quitclaim deed

The easy part is the quitclaim deed conveying title from you to your parents, costing $150-300 at title company.  

The hard part is the following. 

First, there might be transfer tax payable to your local county/state at the time of deed recordation.  Sometimes costing several thousand dollars (check your local transfer tax rate).   For example in NYC, both NY state and city charges transfer tax.  

The transfer tax is usually waived if the transfer is between spouse.  At least in my state transfer tax still applies to other family members.  Consult your title company. 

Second, your transfer to your parents is a gift and subject to gift tax.  However, there is a way to avoid gift tax in next year's tax return. Consult your CPA about unified credit when you do next year's tax.