I suppose it should be claimed on your income taxes but there is no sales tax, which is what you pay when registering.
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I though a "gift" vehicle was subject to taxes on the taxable value of the vehicle, I've always put down $50 on the title and BOS.
Wouldn't it be easier to just borrow the car and pay for her sisters plates and put the car on your insurance? I would think if she wrote a letter stating that you are borrowing her car any police officer would be fine with that if you get pulled over.
You have to have an insurable interest to insure it. Could probably buy the policy though.