Castro Valley Union 76 is where you want to go. There are many shops in the bay area that do brake and lamp inspections, however very few will do motorcycles. Of the few that will inspect motorcycles, most are very expensive.
Castro Valley Union 76 will inspect motorcycles. The cost is about $80 total for both inspections.
You should know that they only have one technician who is licenced to do the inspections and he is VERY picky. I've had him inspect two motorcycles and both failed the first time. The first bike failed because the light illuminating the licence plate was visible from behind. He suggest I buy a small bottle of paint from a local hardware store and black-out a portion of the lens. 30 minutes later he re-inspected and I passed. Last year he inspected another motorcycle and failed it because the rear brake felt too spongy. I had to go home and make some repairs before that one would pass. The good news is they don't charge unless you pass.
They don't take appointments, however good to call ahead to see how busy they are.