I hauled my FJR1300AE home when I bought it using my Tundra pick up truck. I used a loading dock to load and to unload. If I were using a ramp, it would be the Big Boy II, which has a slight arch to it, and is 10 feet long.
I used a Cycle Cynch bar harness. A Canyon Dancer would also work, but I prefer Cycle Cynch having owned both.
I tied the Cycle Cynch to D rings at the front of the truck bed with clamping tie downs. I tied the rear wheel using a soft tie low around the tire, and a pair of clamping tie downs.
I used a Condor chock at the front of the truck, but I did not secure it. Nothing bad happened on the 80 mile trip, but if I had it to do over again, I would probably rig up some way to secure the Condor chock to the bed.
Edit added August 4, 2008: I am travelling right now, and because of the weather and the large trip segments that would be spent bumper to bumper, I took the FJR in an enclosed trailer. The trailer is set up with a Condor Chock. With the chock adjusted for a 17" front wheel, the FJR goes in just fine, but on the longer trailering (first time it got out of the trailer on this trip was in Maine), it is clear that the motion of the front suspension allows the lower cowl to be shaved by the Condor's lower lip. I shaved a good 1/16" x 1/4" x 1/2" plug off at two points.
To fix this, I've taken movable locking piece off the Condor and cut it back about 3/4". It appears to clear OK now, and after another long trailering segment, there's no new damage. I'll have to fix the lower cowl, but at least I discovered the problem before cutting it through.