The short answer is that if you have your drivers license, title to the bike, and your passport, you will muddle through.
Every border you will go to Immigration to check out of your current country, then Customs to check you bike out, then Immigration for the country you are entering, then Customs for a vehicle permit.
Mexico is the most expensive country to enter with a vehicle in North and Central America, at ~20USD for a tourist visa and ~$45 for a vehicle permit, plus a refundable $200-400 deposit, depending on the year of your bike.
My info on South America is from 2006, but the borders there are less chaotic, and easier to navigate, and by the time you get there you will have been through the process a bunch. I never paid a cent to cross a border in Colombia, Ecuador, Peru, Bolivia Argentina, and Chile. I know that since my trip, at least Bolivia and Argentina have enacted reciprocal fees for tourist visas equal to what other countries charge their citizens. I think it is about $130 for Americans, but may be different for Canadians.
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