Move to Georgia. They let you title whatever you want with virtually no hassle. Antique cars require a bill of sale only.
Seriously though, take your paperwork in person to the DMV office or whatever you have in PA. If you register by county, go to one of the small town backwoods offices in the county you live in. Tell the person what you're trying to do and he or she will either register your truck and issue a new title or tell you what steps you need to take to do so.
I suggest the small local branch office because the offices in the big cities are swamped and the people working there are usually unhelpful jerks. I also suggest going in person because people are usually much more inclined to help you face to face.
