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We are going away for 12 weeks, we have two cars (and a motorcycle) and the prospect of properly storing our vehicles I find daunting and would like to avoid if possible, the cars are a 2009 Hyundai and a 2004 Mazda. Two questions -
1) What should be done to "store" these vehicles?
2) If we can find a friend or relative to use the cars occasionally, how often should they be used?

Presumably, you have a garage in which the cars will be left, as it is preferable for the vehicles to be stored inside.
Don't be too daunted by this task, it's not so difficult but I'd suggest the following;
1) Pump the tyres up to a higher than normal pressure to avoid pressure loss as well as the potential for the tyres to "flat spot" which can happen if they are left for a long time with low pressure. I'd suggest a pressure of around 40psi. Don't forget to let them back down to around 32psi on your return.
2) Ideally, if it's safe to do so, leave them parked with the handbrake off to avoid it sticking on. Chock one wheel with a piece of timber if you can to prevent rolling (even on a flat surface).
3) Disconnect the negative battery terminal to minimise the risk of the battery going flat.
4) It is advisable if possible to fill the fuel tank, as air in the tank can cause the fuel to go stale, causing rough running.
Obviously, in the event you do all this, it's not really practical to have someone use the cars occasionally, as they'd need to undo and redo all your work every time.
Enjoy your holiday!

I intend to store our vehicles as you suggest, I do have a further question. One car, and my motorcycle, are due for oil change while we are away. Is it preferable to leave them with the old oil, or change the oil before leaving so they are stored with fresh oil? My motorcycle is a BMW "boxer" engine, which has a dry clutch and the separate engine, gearbox and final drive arrangement.

I wouldn't be too worried about changing the oil before you go. As the engines will not be used, it will have no impact either way for the relatively short time you will be away.