exactly. i just did it w/ my wrx. it was actually a lot simpler that i thought it would be. guy went to his bank, gave them the info for my lien, they contacted my bank, got the payout amount, drafted up all the paperwork, we both went into his bank, i signed a few papers transfering power of attorny of my car to that bank, they showed me the check they cut for the payout amount, and cut me a 2nd check for the remainder of the sale price. we had them write up a bill of sale, and i also printed my own up that we both signed and thats that.
once my bank received the payout and the loan was closed out, they send the title to him so he can sign it and register the car properly and then the title goes to his bank.
the banks do all the work. i didnt really have to do anything other than sign my name a few times a pick up a check. But yeah. make sure youre both at the bank and get the check from a bank attendant, so you know its not a forged check or anything.