I have a car that I can not afford to pay anymore, but found someone to take over the payments. What do I need to do to not be liable in case of an accident?

I have a car that I can not afford to make the payments. My friend said that he would assume the loan, since his credit is not that great and he needs a car. Since I was going to do a voluntary repossession, I thought this might be a win win situation, so a repo would not go on my credt, so my question is what do I need to do to protect myself from being liable in case he gets in an accident? I live in California, and I know it is a car owner responsibility if you get in an accident. Can he register the car, but I keep the title in my name? Can he get his own insurance on the car? I am just concerned that if he got in an accident, I could be liable as the car owner.
Is there a way to allow someone to assume a car loan, and protect myself from being held responsible if they wrecked the car, crashed it, or killed someone?