If a Living Trust document allows the property it holds to be distributed to the heirs following the death of the donors, the Trustee named in the Trust would simply execute a Quitclaim Deed transferring title of the property from the Trust to the beneficiary or beneficiaries named in the Trust.
For this to happen, the Trust itself would need to own the property, and the Trustee must have the authority to make the transfer (with such authority granted in the Trust document itself).
To obtain the required transfer documents, see Standard Legal’s Quitclaim Deeds legal forms software.