Looking for the right way to go about selling with lein

I am possibly gonna have to sell my 2013 rzr s to get out of the payments. What would be the proper way to go about selling when the bank still has the title? I only still owe about 1/3 of the value of the bike and the loan is through sheffield financial. I have always dealt with cash and title in hand so I’m a little uneducated here. Thanks in advance