Disney does exercise ROFR, even on private sales between friends. According to earlier posts (by Dean, IIRC) Disney has not in the past required sellers to follow through on the sale if Disney exercises ROFR. Normally a seller would want to follow through because they want the money, but if they're trying to sell it to a friend, obviously they would prefer not to sell it to Disney.
So Disney has allowed people to raise their price and resubmit (which triggers another 30-day wait) so if you choose to you could resubmit the contract at a higher price and continue until the price is high enough (or Disney gets tired of it).
It's conceivable that if you make it clear in the contract or the cover letter that this is a friendly sale, not listed on a brokerage, and your intent is to make sure that the deed transfers to that person, that Disney will waive ROFR to avoid the whole resubmission process. Or they might not. Or it's possible that they could decide to play hardball and threaten legal action if your friends don't actually follow through and sell them the contract. The fact that it hasn't happened before (as far as we know) doesn't mean that it couldn't happen in the future.
You could also have your friends ask Member Admin directly if there's any special process for a friendly sale. My guess is no, but it might depend on how helpful the CM is who you talk to. There may be some special internal policy that they'd let you know about if they feel like it.
You also might find that Disney will not confirm (or will actively deny) that they let people resubmit at a higher price. It could be that it's something that they quietly allow to happen, but don't feel that they can openly say they do.