There is no road between Panama and Colombia to ride motorcycle continuously at Pan-American highway. Darien Gap is a mountain range with very heavy forest and there is no road built in this gap to connect Panama and Colombia.
There are couple options to cross motorcycle and yourself. First one is air freight. You can ship your motorcycle with plane cargo and get a ticket for yourself as well. Air cargo for BMW F700 GS is approximately $1200 USD and you possibly book a ticket around $150 from Panama City to Bogota. You need to take care of customs paperwork probably for both countries. You also need to have a motorcycle insurance to clear Colombia Aduana/customs.