Easy, in theory...as long as you are not being sued right now ( the transaction would not be likely be declared in fraud of creditors): Just take out a loan from them, using the car as collateral! Then, record the lien. The problem, of course, is that either the loan must be for a short term (and should be used to, let's say, pay off debt), since cars do depreciate.
This is assuming, of course, that you own the car outright. If you still owe on it, the loan contract may very well prohibit putting on any addtional lienholders; if you try that, the car loan would likely go into immediate contractural default, becoming immediately due and payable. This is a result you do not want.
Also, if the debt that concerns you includes the car loan, then selling the thing to pay off the loan is not a good idea, either. Not that you'd get enough to pay off even that; most people are "upside-down" with car loans, and you would be on the hook for a deficiency judgment--more debt!
If you don't own the car outright, the buyer could also risk getting in trouble, depending on the terms of the loan contract; the transfer could be decalerd fraudulent since it takes the collateral and puts it into other hands, ones that were never a party to the loan agreement. Look at the loan contract: There may be a clause that prohibits this under pain of immediate default, too.
Also, who holds the title to the car? The lenders often do until the loan is paid.
Therefore, if you try to sell the car without paying off the loan first, the buyer won't be able to register it (or insure it as the law no doubt requires), making the transaction useless.