Overpaying and getting money back at closing?

[James Elden]

I'm looking at some houses that are priced a bit lower than the minimum price they would need to be to get a loan (like $5k under) so one thought I had was whether it's possible to pay above asking and get money back from the seller at closing? I'm not trying to do anything illegal or unethical so I'm just asking if this is something that is normally done? Thanks for any info.