In Yukon, legislation is being updated to require off-road vehicles to be insured and licenced if being used on a designated road or hwy, including just crossing over the highway or offloading in a rest area. The territorial campgrounds already require a vehicle to licenced & insured. "Off-road" includes motorcycles, snowmobiles, side-by-sides, etc.
Within Whitehorse, there is already a requirement for insurance and licence, plus the driver must have a special permit with their regular drivers licence, which means no one under the age of 16 can operate an off-road vehicle within the city limits.
In British Columbia, licence and insurance required plus the vehicle must be equipped appropriately for use on the highway or road. DH got in trouble once for crossing over a quiet local road in a small community with his trials motorcycle, the RCMP just happened to be cruising by to set up along the TransCanada Trail where there had been numerous complaints about motorized vehicles ripping by hikers, despite motorized vehicles not being permitted to travel that portion of the trail.