How to sell a car

What would be the best way to sell a car you still had a loan on? It's 2 years old, in great condition. My husband and I are looking to go down to a 1 car family so we can knock my student loans off quicker...I still owe a little over $19k on it. It's a 2016 Toyota RAV4, but it is front wheel drive because I bought it when I lived in FL and obviously didn't need a 4-wheel or All wheel drive car...we live in Virginia now so most people seem to want that....