Visa: As Swiss passport holders we got the East Africa Visa which is valid 90 days for Rwanda, Uganda and Kenya
Carnet de Passage: As we travel with the CdP we used it but you can also get a temporary import permit (TIP) at the border.
Insurance: COMESA insurance which we already got for all the countries in Zambia (cost us 80 USD per bike for one year and 9 countries)