I do a lot of motorcycle camping and love it.
on public lands, you just want to make sure that you are allowed to camp there and get any permits if necessary. Pay attention to camp fire rules, especially right now with all the dry conditions out there.
As for camping on private properly, like churches and other places, I always ask and it has a positive outcome most of the time.
I use a hammock most of the time, but also carry a one person tent for when there is no way to pitch a hammock.
Just be smart about it.
I love getting lost on my dual purpose bike on those less traveled roads.