If the domain expired you can't transfer it (in all providers).

The domain can only be renewed, in the "Deleted domains" area of your control panel. After this you can ask the auth code and transfer it

Otherwise you can wait 75 days from the expiring date (40 for the .EU domains and  35 for the .IT ones) and the domain will be definitly deleted and you'll be able to register it on other provider. Naturally this operation involves the risk of losing the domain because of someone registering the domain berofe you.