You can go to any state Deputy Registration office. They need an original MSO document, original invoices for the major components of your car (frame, body, engine, tranny) or total car on which they'll hit you for sales tax so take the smaller $ road. All the other charges are minimal. If they need more, the central state office will ask you to visit an inspection site for final verifications before issuing a title. It's not that big a deal...
This is also when you can of course apply for a personalized plate (one of the basics of life).
Here's the URL for looking up plate availability:
http://www.dps.state.mn.us/dvs/MotorVehicle/sp.HTML
Good luck!