I have done this in the past, but while hitchhiking. My first piece of advice is to avoid using private property, too much risk. Most cities have a public park, or areas by the side of the road that are overgrown and provide good cover. Tents are not really a good idea. Big plastic bags are what we used, the ones you line 55 gallon drums with Black. You put your sleeping bag or blanket in the bag, if you can't find a long enough bag you can tape the HD contractor bags from home depot together. Your biggest issue with the bike is keeping it from being noticed, that requires denser cover, or impromptu camo. Most normal people won't notice much but law enforcement might. Best advise there is lay the bike down, and use terrain if you can to hide it from the road, use a black plastic bag to camo it or a bunch of greenery.
The other issue to be aware of when stealth camping near cities is the other "non bike tourists" that are doing the same thing, you do not want to invade someones turf by accident, or on purpose really. In rural areas same rules apply but law enforcement is more likely to notice you, IMHO. Try to bed down when its dark, and try to leave before the morning rush.