I own my parents home in FL. they are now planning on moving to an apartment in Iowa due to health issues and told me I can sell the house in Florida.

Typically, you would use a warranty deed in an arms length transaction. In Florida, your realtor will likely provide you the contract for sale and the title agent or your attorney will prepare the appropriate deed. The type of deed will be dictated by the purchase agreement.  In addition to providing a deed, typically the agreement will provide for title insurance, transfer of other related assets, representations, warranties and other terms and conditions.  I recommend you seek the assistance of a qualified realtor and, if needed, an attorney, to guide and assist you with this transaction, especially if you are out of state.