I bought my first car the same way. Both my and my fathers names were on the title. When it was time to sell it both our signatures would have been needed at the dealer. To simplify the logistics the first thing we did was to transfer the title to my name only. Both our signatures were required for this as well.
If you're still paying the loan, the title itself is almost certainly in the banks possession; and any change will require their approval as well. They'll need your fathers signature too. If your father co-signed because his better credit convinced the bank to issue a lower interest loan, they'd probably insist on a new loan being created in your name only at a higher rate if they're willing to lend to you at all.
Unfortunately, without his cooperation you're unlikely to be able to get full ownership of the car without involving the court system. Even if they are willing to do so (I have no idea how likely this is); suing your father isn't so much burning as nuking your bridges behind you.