i've done motorcycle titles in south dakota and wisconsin. i called the MN DMV a couple months ago about another bike
the lady i spoke with made it sound a bit more convoluted but here's generally how it works in Wisconsin (although it's possible i have a couple steps out of order)
1. get possession of the vehicle
1a. find out if it's listed as stolen
2. document how you obtained the vehicle
3. contact the DMV and ask about appropriate paperwork (in WI we can now download the paperwork, but i forget the form number)
4. fill out the paperwork
5. have a Law Enforcement Officer look at the vehicle, and sign paperwork indicating the VIN(s) match your paperwork
6. contact an insurance company and get a surety bond. basically that's an insurance policy (usually costs around $100) in case the legal owner ever comes back
7. submit paperwork with surety bond to DMV and get your title