Visa: We got ourselfs a 30 day KAZA visa which is valid in Zambia and Zimbabwe. This makes a lot of sense even if you do not want to got to Zimbabwe in general but if you want to visit the Victoria Falls on both sides.
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: You have to get an insurance when entering in the country. Make sure its a legit one as there are many fake insurance companies out there….often police checks shortly after the border if you got the insurance. Zambia is part of the COMESA (Common Market for East and South Africa). Therefore we got the COMESA insurance, valid for 12 months in Zambia as it was very easy and also pretty cheap (75 USD per bike).
Zambia is not the most interesting country for motorbike riders but we enjoyed the friendly people and relaxed atmosphere.
Here some very country specific information:
Make sure you have enough USD, as you need to pay the visa and the road tax in USD
Buy your veggies along the road as they are soooo much better than anything you would get in the supermarket!