I live in md and we dont have an option for registration. I registered my yfz in PA 2 years ago for $20. Dont remember if they needed a title. It was very laid back. I think we brought our titles to the mc shop and they didnt even look at them. Just the vins and our DL #s.  took about 20 mins, we got temp tags and rode the weekend in a michaux state forest. 
I heard that you also need a RAC sticker. Currently $150 for the calender year i think. Im sure some savvy locals ride without the sticker, but i didnt want to chance it driving 3-4 hours to get an impound. Thats the only reason i havent gone. If i can get 3 + good rides a year in, the $150 seems worth it considering the amount of riding area you get for that.