The absolute easiest way is to get a van, put the bike in the back of it, drive the van to the UK, and go to your local licensing agency to talk to them about plates, inspections and customs/registration duties, then get insurance on UK plates.
Barring that, to drive in France on Irish plates you would first need to get Irish insurance (which covers all of the EU and I think, by treaty, is also valid in the UK - but confirm that).
If you are a UK citizen and permanent resident, riding into the UK on EU plates, you may need to do some customs clearance and pay duties, same as if you'd bought a vehicle in the EU and are importing it into the UK. Again, confirm that with your local authorities.
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