You can go directly to the escrow company and have them draw up all the paperwork for you.
It might not hurt to get an attorney, but that depends entirely on your relationship with this friend and how you might resolve any issues either during of after the transaction (what if you find $30K worth of mold problems that they had painted over, or something like that?).
We’ve used Gary for an inspector, and will use him in the future. Great guy, great work, and very much worth every penny.