Retirement tax questions

Since I have an attorney putting together a trust/will, we have a VA loan at a very reasonable rate. I received the VA handbook and the representative stated the page and paragraph stating our children/grandchildren can assume the loan at the current rate. So that should be all my attorney needs  to do a TOD (or another option you recommend) to transfer the home to our heirs. Yes? But I see you said DO NOT put them on the deed now just put them in the trust as inheritance?