No, there is no inland application for parents. You have to apply outland and it takes a long time. Last time I checked 29 months to approve sponsor and additional few months to a year depending on which country they are from. If your parents are already visiting and wish to stay, they can apply to extend their visit visas every 6 months. They have to prove they can support themselves or that you will and they may have to prove that they are planning to leave again if they don't get PR. A visit visa extension is never guaranteed to be granted but some people have done this successfully. They would not qualify for healthcare during this time though.
