eeks! I don't know about starting from zero, I would actually like to know in case someone has done it.
Here's the process I went through with a little more, it could simply be as easy as filling out a blank DMV form, and thy may let you register it as long as it's out of the system.
I've bought my '63 Honda Trail from a motorcycle salvage yard, they did not give me a pink slip, but they handed me a DMV form filled out with the bike's information, and where it came from. (the salvage yard) I forgot exactly what all was filled out, but it seemed way more legitimate than buying a bike from craigslist with a written bill of sale. At least the location wont be picked up and gone the next day when I would come to look for them for more information.
From there, I took that to the DMV, and they pretty much looked it up, wasn't in the system, and practically took any make, model that I wrote and entered it into the system to get the process started. (pretty much take any money they can, and start billing you) From there gave me a list of what I needed next. VIN verification I think was all I needed. I think if it would be after '72 or so, (Forgot exactly what year was the turn signals were required) Then it may need a lamp verification too? Not sure if it applies to motorcycles as well as cars.
VIN verification, the bike didn't need to run, and you could find someone on CL who does it independently for $50 or so? After that, a trip to the DMV with it done, and I left with a plate, tag, and registration.
Hope this helps at least a bit!