We are Florida residents. He has a little money left owing on his car but has some equity in it now. We want to add my name to the title now. Does anyone know how that is done in Florida since we do not have the title paperwork, it is held somewhere remotely?

You would have to ask the creditor. You cannot add your name to a vehicle he does not own free and clear because the creditor does NOT want you to have the ability to sell or trade it when you are not on the loan.