As you probably know, there are different opinions about tilling. But it seems like tilling once is not really a problem. The problem lies with repeated tilling over the
course of years, which destroys soil structure, promotes erosion and nutrient loss, etc. etc. So if you're turning
lawn into planting bed and want to till it just once, you aren't likely to cause the sort of problems connected with tilling.
In my garden I planted in small holes dug in the sod, then did a thick layer of mulch to create the big bed. That bed has never been tilled. The sod pretty much disappeared, though grass and creeping charlie are always growing in from the sides. Our other beds were turned over by hand, then mulched etc. The soil seems better in the no-till bed, but how much is due to the larger quantities of mulch used and how much to the not tilling is uncertain.