The incident, which occurred at 10.15pm on June 20, 2024, involved four people who broke into a garage on Esparto Way.
They allegedly unchained a motorbike and threatened the property owner with a hammer before leaving.
Two teenage boys were arrested, and a search led to the recovery of the stolen bike, and the seizure of tools and cannabis.
A 16-year-old from Gravesend faces charges of robbery and intent to supply cannabis, while a 17-year-old from Erith was charged with robbery, criminal damage, and cannabis possession.
Both boys have been released on bail and will appear before Medway Youth Court on August 8.
