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It is typically a little more complicated than just having parents sign a letter assigning you ownership. There may be a formal process that the Board has put in place that requires you to file a formal application so you are approved for ownership of the co-op. This isn't typical for a family member transfer, but it all depends on the Bylaws and rules that the Board has in place that governs transfers.
So your first step would be to check the co-op's lease or Bylaws to see what type of approval, if any, is required for an intrafamily transfer.
Then you would need to contact the co-op's managing agent to obtain any application or other necessary forms and find out what fees would apply for this type of transfer..
With all that said, the co-op's managing agent will be the person who would be best suited to give you the exact information regarding any transfer and what is necessary to get it done as each co-op sets their own rules and transfer policies...