You would need to fill out a gift tax form. While you will not actually have to pay the tax, you will still need to file the Form 709. Read the information in the following links for a more in-depth explanation. You would have to download the form from the IRS.
https://turbotax.intuit.com/tax-tools/tax-tips/Tax-Planning-and-Checklists/The-Gift-Tax/INF12036.htm...
http://www.elderlawanswers.com/giving-your-home-to-your-children-can-have-tax-consequences-9667
