You can write an agreement and have it submitted to the court to be made an order.
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I agree. If you want it to be completely legal, it has to be signed by the court. Now, this does not mean you have to go to court but you do have to file the agreement with the court. Both of you can enter into an agreement and file it with the court. Now, you might need some assistance as some courts require certain language in the agreements before that judge signs it. You might want to pay an attorney to draft a short agreement for you and him.