No information is available for this page. Learn how to register your car in the Twin Cities area including Minneapolis and St. Paul.See the paperwork and documents required to register a vehicle. Motor Vehicle Sales Tax is due on most motor vehicle sales or transfers. Tax is due when a title transfers unless an exemption applies. Find information about contracting with Hennepin County, including processes, forms, and diversity rules for goods and biddable services. A Minnesota vehicle bill of sale serves as evidence of the transfer of a vehicle. Use our template to build your vehicle bill of sale. Sales tax is due up front for lease renewals. This form is for use when claiming exemption from motor vehicle sales tax in a gift transaction, pursuant to Minnesota Statutes. 168.171.