In order to transfer shares into a new name, the company and/or their transfer agent can assist you. If the company you invested in is using DealMaker Shareholder Services as their SEC registered transfer agent, please click here for information on how to transfer your securities. Otherwise, you'll need to contact the company you invested in and have them redirect you to their transfer agent.
If your shares are held in a brokerage account, the broker can assist with the transfer of shares.
If you think that your heirs may need access to the original share purchase paperwork, you can share or store your password with them, along with your other passwords as you are doing for the rest of your estate planning.
Here is a link on how to reach the company for a purchase that was made using DealMaker.