if you re yourself registered with the right papers, for example you work in france, etc ... just bring your papers and those of the bikes to the "mairie" (mayor) or "prefecture" and ask for a permanent bike registration called "carte grise". is it your issue or you just want a temporarily registration ? if it s only temporarily or you re not registered as working or whatever in france, i d say don t bother
same story for bike insurance called "carte verte".
motorbikes in france are not concerned by tuv or "controle technique" (same ?).
otherwise, some foreigners don t bother, even if it s "illegal" : they drive with foreign number plates, foreign insurance, foreign driving license : contact the french communities of the HUBB, there are some foreigners inside who can share their experiences with you (blackjack, beddhist ...)
the paperwork is quite something here in france but if you have the right papers, it shoukld be done quickly : maybe same day or 5 minutes.
we dit it (carte grise and carte verte) together with blackjack in paris for example : no problem.
if you and your bike belong to the EU, there should be no tax, you only pay a little for the bike registration called "carte grise".