I love tent camping from the bike while seeing the country. This is especially true if I can do it at a time of year and location when I can avoid mosquitoes without freezing to death.
I found a cot last year that I absolutely love. Easy to put together and take down. And it only weights 3lbs or so, takes very little room on the bike when packing.
As far as cooking goes I usually just find a restaurant instead of hauling all the cooking equipment. Staying in a tent in bear country also seems like a reason to avoid cooking at my campsite.
I will avoid Indiana state parks on the weekend from now on though. Wasn't much sleeping going on in that one.