Your specific financial situation requires advice tailored to your assets, liabilities, age, income, etc...
Some people would gift the property to their children.
Depending on what your intentions are, some people set the transfer up as a life estate, or a gift contingent.
Some parents even sell the property to their children.
Some parents provide for this in their wills.
I suggest you research it, and/or meet with an estate attorney, tax attorney, or a CPA.