Ask them to sign up for a godaddy account so that neither of you have to pay a transfer fee. Setting up an account doesn't cost any money
As for transferring, or "pushing", it into their account, go to your "My Domains" page and fill in the checkbox to the left of the domain that you want to push. Then, click on "Account Change" which should be right above your list of domains.
Enter the person's Customer # or username that they got when signing up, and enter their email address as it appears in their account details (whatever email address they signed up with).
Then, they should receive an email with the transaction ID and security code. All they really need to do is accept their "Pending Account Changes", enter the transaction ID and security code, and proceed to the checkout area which should be $0.00.
Transfer complete.
You used to have to get all their account info like Name, address, phone number, etc, but it looks like godaddy has upgraded their system to be more like NameCheap and Moniker. Hope it helps