Putting in offers on properties- how to do it?

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Hoping I can get some help with a question I had come up today.

This will be my first property to make a purchase offer on. It is currently listed on the MLS and I have already been out to see it. I'm not working with an agent as of yet, and saw a significant price drop this morning and want to know the steps I should make to submit an offer on it. Do I call the RE agent it's listed with? How do you typically go about this? I've heard of people submitting offers without going out to look at it and if it's accepted they go look to finalize everything. How do they "submit deals" or "put in offers"?

Thanks!