Kuol has four years of eligibility remaining.
He was released from his signing with Iowa State.
Hansen ran for 952 yards in the 2025 season.
Bacon led the Iowa State defense with 652 snaps played in 2025.
Eskildsen had 30 receptions for 526 yards and five touchdowns in 2025.
Manske is the sixth former Iowa State player to transfer to Penn State, following fellow quarterback Rocco Becht.