do you need a lawyer to write up a paper if your...
 

transferring a domain name from one person to the other?

someone said thats how it has to be done through the registrar...

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NO, I've bought and sold many domains. No Lawyer needed.

It might be a good idea if you were talking about a domain that has seroius traffic and revenues... but not many domains would be sold at this late date that would justify a formal agreement.

If it made you feel any better, you could write up a simple sales reciept yourself to fax back and forth so that you had real signatures. If you were to do that, make sure to put a disclaimor on it that you were totally relinquishing all rights etc to so and so (the buyer) But I wouldn't do that until the check has cleared. ;-)