Hey there,
Looks like an old post - not sure if you got this taken care of yet, but I'm in the same boat. I got my bike from my Father who hadn't registered it since 95, so it fell out of the system and there was no record of it. Even worse, he had NO paperwork on it - not an old registration card, title, nada. So after many run arounds, I've finally figured out the correct path.
All I did was go to the DMV, explain what happened. They registered my bike and partially filled out a VIN Verification Form which I need to take to the CHP (doing this on Monday). They said they will simply look at the VIN and verify that it indeed says the same numbers I used to registered it with the DMV. Then when that is done, I take that completed form back to the DMV and boom - I get my stickers and probably new plate as well.
Now if the bike is still in the system, all you need to do is find the "request duplicate title" form and there is an check box transfer the title as well. You'll just have the previous owner fill out his/her portion, you fill out yours, and you're done.
Hope that helps.