It would obviously be easier and cleaner if the seller had a clear title. But it's easy enough regardless. Let the banks do the work. Let your bank contact his bank for payoff. Your bank sends his bank funds for the payoff. Your bank releases remaining funds to you to provide to him in the form of a bank check or whatever. Your bank receives the title. When you pay the balance to the individual, he gives you the key, and a bill of sale, and signs over the registration form(s). Take bill of sale, loan paperwork, copy of insurance to DMV and they should take care of you. Depending on the state, they may issue you a tag immediately (not sure if Fla does that or if it's temp tag).
Don't forget to check state law on sales tax. In GA now, we pay Automobile tax (equal to our sales tax right now), on all vehicle purchases, private or dealership.
Definitely definitely get it inspected by a professional. Once you take possession, there's no going back.
Mike