1. Prepare (Use AWS CLI)

1.1 Install AWS CLI lastest version into EC2
Attach policy AmazonRoute53FullAccess to EC2-ROLE

curl "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o "awscliv2.zip"
unzip awscliv2.zip
sudo ./aws/install

1.2 Or Use AWS CloudShell in AWS Console
https://aws.amazon.com/cloudshell/

2. Tranfer domain (Source Account)

2.1 Run command
aws route53domains transfer-domain-to-another-aws-account --domain-name {DomainName} --account-id {AccountDestinationID} --region=us-east-1

{
"OperationId": "aaaaaaaaa-bbbb-ccccc-dddd-eeeeeeeeeeee",
"Password": "xxxxxxxxx"
}

2.2 Cancel request
If you want to cancel transfer request, please run command below
aws route53domains cancel-domain-transfer-to-another-aws-account --domain-name {DomainName} --region=us-east-1

3. Except domain (Destination Account)

Run command
aws route53domains accept-domain-transfer-from-another-aws-account --domain-name {DomainName} --password {Password} --region=us-east-1