Can I transfer Vehicle Title outside of probate

My father passed away leaving a will naming me sole beneficiary and executor. The estate will have to go through probate only because of a home he owns. He also had 2 vehicles that he signed over to me before he passed away but that I never took possession of. I have the signed titles in hand. Can I now transfer those titles outside of probate? Or do they still have to be included as assets within the estate? I ask because I will be keeping both vehicles and need them to be insured but can't insure them while in his name.