I found this fact sheet

https://www.dot.state.pa.us/public/dvspubsforms/BMV/BMV%20Fact%20Sheets/fs-ant.pdf

which led to this form

https://www.dot.state.pa.us/Public/DVSPubsForms/BMV/BMV%20Forms/mv-11.pdf

I find it interesting that the form does not ask for insurance info.

I know you said this was a transfer of owners, and these forms might not apply but if this form is not asking for insurance, I don’t see why a transfer would but since I am not 100% sure, you can contact penn dot

https://www.dmv.pa.gov/Pages/Contact-Us.aspx