I have a 2006 YFZ 450 Quad with no title, can I sell it?

I bought this quad from a trusted friend's boss, but I did not get a title with it because he told me that Yamaha does not give out titles. He had the owners manual packet and everything. So I went ahead and purchased it. I've had it for 3 years now. I am ready to sell it, but I am wondering what to do when this issue comes up, "wheres the title?" Is what he told me true? I wonder if I can get some kind of proof that it's not stolen. Please help.