In the absence of using a vacuum filler (which make the job very easy) the following procedure has been used successfully.
1: Slowly fill the system from the radiator till it is full to the top.
2: Open bleed screw until air stops coming out, then retighten.
3: Fill radiator back to the top and replace radiator cap.
4: Start bike and idle for a few minutes, open bleed screw for a few seconds and retighten.
5: Rev engine to 4,000 rpm or so and rock bike slowly from side to side with rpms high, then hold straight or center stand and open bleed screw for a few more seconds (coolant will be HOT).
6: Shut off bike and allow to cool down (at least 30 minutes), carefully open radiator cap and fill to top, replace radiator cap.
7: Start bike and allow to idle until cooling fan comes on.
GOOD: If it took a long time for the fan to come on, the whole radiator is too hot to continuously touch from behind, and the fan is blowing off a lot of heat, go ride, everything is working!
BAD: If the cooling fan comes on pretty quick, the back of the radiator is not to hot to continuously touch everywhere, and the fan is not blowing off a lot of hot air but rather just warm air from the hot motor and exhaust surfaces, you failed, repeat steps above.
Once the system acts normally, fill the reservoir to the maximum line while the bike is hot and cooling fan is cycling on and off. Go for a few rides allowing the bike to cool completely between and check that coolant in the reservoir has remained above the minimum line.
Congratulations, you've just bled the air out of a cooling system.