The US Customs and Border Patrol (CBP) site lists a few places in the Orlando or Tampa area that are either a Port of Entry or Service Entry.

In Orlando area you can go to Sanford (a city close to Orlando) which is listed as a Port of Entry. The CBP describes a Port of Entry as any designated place at which a CBP officer is authorized to accept entries of merchandise to collect duties, and to enforce the various provisions of the customs and navigation laws (Title 19 of the Code of Federal Regulations, Section 101.1).

And in Orlando itself there is a Service Port. A Service Port is a CBP location that has a full range of cargo processing functions, including inspections, entry, collections, and verification (19 CFR 101.1).

There is a Service Port in Tampa as well. And in Sarasota and St. Petersburg there are Port of Entries.

I would advise looking at the CBP site's list and calling before taking your car to any Port of Entry listed to make sure the Custom's officers at the location you want to go to will be able to fill out the paperwork you need to declare your vehicles and properly import them into the United States. The National Highway Traffic Administration (NHTSA) has information on their site as well about how to import a car to the US.

Once you have properly declared your vehicles and imported them to Florida than you should be able to register and insure them properly. The FL Department of Highway Safety and Motor Vehicles (HSMV) can help you determine what you must do to register your cars in Florida.

It helps that you already have a Florida driver's license since an insurance company requires a US license to obtain insurance usually. To comparison shop for the best car insurance price available, click here.