In Fl. you need the bill of sale, and if there is NO title you have to apply to DMV to have the title issued. 78.00 i think.
In your case you will do the same. Go to DMV w/ a bill of sale, that has the VIN numbers. They will run a title search, and if it comes out clean they will take your money, and mail you the title.
If you do not know the history of the bike I would suggest having a cop friend run a vin check for you first. That might help avoid some drama at DMV.