Keep it simple.
We did this several times, once with an old Lada, twice and with an articulated bus (really).
The most important thing is that the customs officer or whoever asks for the car document en route can connect your name/passport to the name on the car papers.
As #2 and #3 said, write a simple authorization preferably in French (we had it in Hungarian just for fun) and highlight the owner and the driver with bold so as they can see the connection: he authorizes you to drive his car without limitation, etc.
That's it. If you put some random stamps on top it looks even more formal and they'll love it
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