1993–2003

Beginning with the BMW R 1100 RS sports tourer in 1993, BMW began to transition from engines with air-cooled cylinder heads ("airhead" engines) to oil-cooled cylinder heads ("oilhead" engines). The BMW R 100 RS also used "Telelever" front suspension (where braking forces are transferred horizontally to minimize "fork dive") and a stressed engine.

Also introduced in 1993 were the single-cylinder BMW F 650 models, which was based on the Aprilia Pegaso 650. The related BMW F650 CS began production in 2001.

The "airhead" BMW R 80 GS and R 100 GS models remained in production until 1997, before being replaced by the newer "oilhead" models such as the BMW R 850 series, the 1994–1999 BMW R 1100 R standard motorcycle, the 1994–1999 BMW R 1100 GS dual-sport, the 1996–2001 BMW R 1100 RT tourer, the 1998–2005 BMW R 1100 S sports, and the 1999–2004 BMW R1150 GS dual-sport.

The K Series models, powered by a water-cooled inline-four engine, included the 1996–2004 BMW K 1200 RS sports tourer, the 1998–2009 BMW K 1200 LT luxury tourer, and the 2002–2005 BMW K 1200 GT sports tourer.

The BMW R 1200 C, produced from 1997 to 2004, was BMW Motorcycle's only entry into the cruiser market. At the other end of the model lineup, the 2000–2002 BMW C1 was BMW's first and only enclosed scooter model.