This is how it works in Indiana. I would bet some of the things are the same as Texas.
You transfer owner ship by sighning the Documentation papers and send for a form of deletion from the Coastguard. The new owner then has to re document the vessel, sending the letter of deletion, the Coast Guard Bill of Sale and a form so they can refigure the vessel tonage. There is a Coast Guard website where you can down load all the forms you need. I seem to have lost the bookmark.
We have to have the State regestration decal on the boat. I got it regestered by simply showing the DMV my receit and leter of Deletion. Good thing because it took all summer for the Coast Guard to finish the documentation.
The total cost was $96.00. I had heard of brokers charging 4 times that to do the same thing.
I didn't have to pay any sales tax.