Being you are in PA yes you need to go to a notary to transfer the title. They will have to bring their own plates to transfer onto it or will have to get temp tags from the notary. They will pay taxes on the sale price at that time too.
Make sure you bring your drivers license and the title and make sure the buyer brings their driver's license and proof of insurance.
As far as making an appointment or whatever it just depends on the notary. Most are available for set hours during the day, some do it on a part time basis and you might need to call them to arrange a time.
