Help with Transferring a property from family

[Edgar Perez]

Hello, I am looking for step by step guidance in South East Wisconsin to help me with transferring title from my Grandpa's vacant lot to my name in Kenosha Wisconsin.  I have found videos online about how to fill out a quick claim deed but they are very general and I would like help with my specific property details.  Is there an agent or attorney in my area able to help or even someone with direct experience with this sort of thing?

Thank you