Notice of Default Filed - Owner Deceased

[John Ray]

A family friend's mother passed away a while back and the bank filed a notice of default a few months ago. The family friend lived in the house with the mother and currently still resides there however is not making the mortgage payments. The family friend and their sibling are her only children. They have no interests in the property and if I can gain ownership will move out without hassle for a nominal fee. I'm in the process of doing a lien search. 

What steps should I take? Is there a way for the executor (or heirs) to sign over the title to me and I pay off the loan without going through probate?  Or how do I "purchase" their interest legally so I can work with the lender?

Property is in California. I have yet to try to acquire properties where the owners are deceased. Thanks in advance BP.