Am Not Able To Register My Commercial Van In Nj?

Hey YA, I am hoping someone here has some insight on how I can get my dang work van registered. Heres the story..
My father & I own our own business. We started it in 06, part time. My father recently left his other FT job to run do our business full time (almost 1yr ago). In 09, we bought a work van, but, he financed the van in HIS name. Eventually we got it lettered and registered & insured it commercially.
We got a letter from DMV stating that our registration was expiring and that we needed to re-new it.. No problem, right? Wrong.
My father went to DMV, and they told him that they needed the title transferred over from the bank to DMV (or something along those lines..) and we had to call the bank and request a transfer. Well, after about 3 weeks, they finally got back to us and denied our request because our business doesn’t have any credit history. (All our materials, everything we buy, we pay cash)
It seems paying cash upfront screwed us in the long run because now we are stuck with a van that we cannot seem to register!
Does anybody have a solution to this? My father wants to take the lettering off of the van for now and register it back residential because we still owe about $10k on the van and we don’t have the money to buy it outright ATM.
We went to our local bank today and there solution was to apply for a loan with them, but we have to figure out what the business has made annually (which, we have no clue honestly)
My father is definitely not a business man, he is a great worker, but running a business is not for him. He doesn’t even know how to turn a computer on, let alone file paperwork and keep stuff upto date. We pretty much just collect checks from our customers, deposit it in our business acct, restock materials, etc and whatever is leftover is basically what we made. I am attempting to figure everything out, but I am only 22 years old and have absolute no business background so I am clueless in this as well!
We gotta do something, we cant be working out of a residential van (potentially a fine) and we cant be driving around a van with no registration!
(We plan on trading in & buying another work vehicle in a year or so, that one we plan on attempting to get in the business name.)
Any idea’s guys? Any help is appreciated!!
Thanks !