Can parents sell mortgage free house to child cheap to avoid eventual death taxes?

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I have been added to the deed for my parents house for several years. However, my understanding is that I will still be taxed when they die.

Question: Can I buy the house cheaply from them now to avoid any death tax?

I know their would still be capital gains tax if i sold it later, but this way I could take possesion of the property and rent it out after they die to generate income.

Note: I live in Maryland and house is worth about 200K
Don't know if this changes anyones answer but as an FYI:

1. my name was put on the deed because that is what their lawyer told them to do. He also helped them create a will.

2. I have a sibling and they don't want her to get the house (or it have to be sold to split the "money") when they pass away. Thanks everyone except the one that said don't ask this. "A failure to plan, is a plan for failure."