I am from northern NYS, but have lived in MN 26 years. There is a lot of beauty in this state, and it is GREAT for cycling. If I hadn't moved here, I'd probably still be a backpacker instead of a bikepacker. Our state parks have an "open to bikes, always" policy. If you arrive by bicycle, even if the campgrounds are full, we'll find a place for you to set up. (Yes, I am a state park ranger; bike patrol as a matter of fact.) Knutson Dam Campground is federal (USFS), not state, but is really nice. (I used to be a Backcountry Ranger on the Chippewa National Forest.)
You will like it here!