Buying a market deal off the market

[Cowan Bucks]

Hello Everyone, 

Quick question for someone kind enough to elaborate on.

Unfortunately, a friend of the family passed a few months back. His family and heirs to his estate immediately put his home on the market. I had a walkthrough of the property once before and once after it was on the market through my realtor friend.

I'd like to make them a cash offer off the market so they can save some money on commission fees and inherently giving me a better price on the property. 

Question: In the state of Pennsylvania, is it possible to sell the property privately after it's has been on the market ?