I did this roughly in 2003 so my info may be old. And inaccurate because I had some help from a realtor (a RL friend.)
1) Realtors sell the house and draft up a purchase agreement.
2) Underwriter takes purchase agreement, verifies the loans are good. Sets up a date with the title company to complete the transfer.
3) The title company that does the transfers of money and title.
Since you are in Minnesota Vivi (I believe you are from MN) (and also where I did my transfer) I actually used a division of Edina Reality as the under writer. They have their own company outside of the realtors for doing this and have their own title company as well if I remember right. Contact them directly and bypass the realtor division. There will be closing costs, fees for this work, but you can bypass the realtors if you have a purchase agreement between you and the person buying the house. My RL friend actually drafted up the purchase agreement for us and got the underwriter involved from his place of employment (Edina Reality), and we listed ourselves as the agent rather than him (where he wouldn't get commissions, etc)
If this was a complete cash transaction you could probably just go directly to the title company. And a lot of times these companies are 1 entity that do all the work. So going to a title company might have underwriters, and vice versa, etc. It's pretty ambiguous to me, but I believe that's how it worked.
The purchase agreement is a 1 page form you can probably get from the underwriter/online, etc.
Also I'm going to send you a PM with the person I used in case you need to talk to someone. I am not sure if he will help you the same way he helped me, but it can be worth a shot. He might be able to steer you in the right direction.