What you need is a Surety Bond. Your insurance agent probably writes them, or will know who does. I believe you have to take the VIN to the DMV to get proof of a clear title, no matter who's name it is in (about $10). Take this to your bond agent and you'll fill out a form saying you bought this from xxx and are now the rightful owner. The bond price is based on value, but bikes and older cars are usually $100 to $125. This usually only takes 2-3 days. With the bond in hand, you can go to your County Tax Office and get a title. For plates, you will need to make the bike street legal (described elsewhere) and inspected. Do this at the same time, and the new title will be street legal, instead of "Off Road Only".

I've done this before, and will do it again soon for my old Yamaha XT550. Sort of a pain, but worth it if you want to dual sport the bike, for sure!