No problem with one person bringing in more than one vehicle, I've brought in an XR400 on the back of a Navara Outlaw before. No difference if it's a trailer, and some people transport a truck load of bikes at once.
You need a V5 log book (carte gris in French) for each vehicle and if the log book isn't in your name you need a letter of authorisation from the registered keeper.
Each vehicle needs a declaration of temporary importation (see the information in the knowledgebase linked in my signature) but what tends to happen is the bike details are added to the vehicle details so that it's two (or more) vehicles on one form.
Tim
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