If they are willing to do so, your parents can file a grant deed or quitclaim deed naming you as the Grantee. You will also need to file a Preliminary Change of Ownership Report providing information to the Tax Assessor about the transfer. Since it is a transfer between parents and a child it will probably qualify for an exclusion from reassessment if you file the proper form after the deed is recorded.
This answer does not constitue legal advice, nor does it creat an attorney/client relationship. If you are seeking legal advice upon which you intend to rely, you should hire competent cousel familiar with this area of the law in your locale.
You should consult with an attorney before doing so. There may be tax issues, but if either parent receives disability or Medicaid, they may jeopardize their benefits by deeding the property to you.