Im a CPA but in audit/consulting not tax so take this with a grain of salt and I am not offering professional advice here but hopefully can give you some context... This is actually a complex situation if you really want to go down the rabbit hole. If you are receiving a true "gift" then neither you or your parents have to pay a gift tax. That $17,000 exclusion just means that if someone gifts an amount over that that they have to submit a form to the IRS declaring that they gifted over the amount and that amount basically counts towards the lifetime gift exclusion that is around 12 million dollars for 2022. So, if your parents give you under this amount no one pays tax on it, you just have to declare it to the IRS.
If your parents are giving you an "interest-free loan" you technically have recognize income in the form of whatever money you are saving in interest. For example: if you are given an interest-free loan for $100,000 and the market interest rates for that type of loan product is 10%... then you have to recognize income in the form of $10,000 since that is what you would have had to pay. So, if you are in a 20% tax bracket, you would pay $2000 in taxes. Now, depending on your income and after all of the wonderful tax deductions, write-offs, etc that real estate investors can leverage to 'maximize their after tax wealth' you likely will not end up paying that $2,000. However, if you do, its still cheaper than the $10,000 in interested but hopefully you get the concept.
Your parents wouldn't be taxed on the "income" if you paid them back over time because there is no income if it is an interest-free loan. They are just getting a return of their cost-basis in the asset. So, until they earn MORE than this, they wont pay income tax on it because they didnt "earn" anything. To continue with the above example, if you ultimately paid them $100,500 back, they would pay income tax on $500 since that is what they "earned" for lending you money.
What I would personally do is let my parents gift it to me interest-free and I pay them back. I doubt I would end up having to recognize interest income (the $10,000 from our example) and pay income tax on it (the $2,000 from our example) because I have a great, real estate savvy CPA that would figure out a way to get my income down so I ultimately wouldn't have to pay that and everyone wins.
Again, this is not my area of expertise so this is just my basic knowledge based on what I was taught and I am not giving legal or tax advice here but hopefully it gives you some thinking points. Please verify with your CPA. Even if you do your own taxes (not advisable), you can still pay a real estate savvy CPA their hourly rate for a consultation on the specific situation.
(Just an FYI: most sophisticated CPA firms (i.e.not turbotax or H&R block) have audit risk software that basically calculates your chances of being audited based on the tax stances you take so another good reason to invest in a good CPA)