home is paid off and am selling for cash. no lenders involved. do we still have to do a HUD 1 form?

No.  However, you probably still need to have an attorney handle the closing just to insure that all the details are properly attended to.  In addition, the HUD form may be considered by your closing attorney as a convenient means of displaying the sale/purchase price and the charges, etc.  I do recommend, if your closing attorney chooses to use the form, that references on the form to it being a HUD transaction be deleted.