In most states you can find the MSF course for free, often sponsored by the dealership. They will supply you with a motorcycle and gear. Once you pass the course (which includes a written and a riding test) they can give you the license. You do have to have a learners permit to take the course.
Since only one person can ride on a motorcycle at one time, many states allow driving on the street with just the learners permit. However, if you don't know what you are doing, you might easily get hurt.

