You don't need a real estate agent to handle everything, since there's no sales work involved. But you may want to hire an agent -- or a real estate attorney -- for an hourly or negotiated fee to manage all aspects of the transaction.
Unfortunately, it's more than a layman can handle. There are issues with title, with state and local laws that have to be followed with any property transfer, with payment of taxes... etc., etc.
I am sure that you mean well and you both want it to be as simple and inexpensive as possible. But if something is done incorrectly in the transaction -- no matter how small -- it can come back to bite you in the backside later.
If you know any agents, they can refer you to an attorney who can help you. If you happen to be in Los Angeles, I know a couple good ones -- e-mail me.