A key way to avoid probate when transferring real property to your heirs is to jointly hold title with your heirs- with Rights of Survivorship. Through this arrangement, your share of the property is immediately transferred to your heirs when you pass away. All that is typically required to have the property transferred into their name only, is for your heirs to present a copy of your death certificate.
You could also place your property in a trust. Placing your property in a trust completely removes that property from your estate. You still retain the right to use and enjoy the property during your lifetime, but can then designate your heir as the beneficiary to receive it upon your passing.
And finally, another simple way through which you can avoid probate, is to transfer the property into the name of your heir while you're still alive.