Buffalo NY 2 adult children POA, Will best way to leave a paid off house to them??

Husband and I are looking to leave our house which is paid off to our 2 adult children without it costing them anything. Is there something we can make ourselves ? Have a 401k , savings acct and an Ira is all we own not a lot of money and our 2 vehicles. Had a mini stroke last year and I'm doing ok but trying to get things in order without spending thousands thx