Hi,
If your goods are for personal use, you do not normally need to make a formal declaration, requiring you to complete an electronic customs declaration, when you bring them into or out of the UK.
These goods include private vehicles that have been in the UK before, and personal effects and gifts carried in your luggage or driven in a vehicle. You can see guidance here:
Check how to declare personal goods you bring into or take out of the UK
You may have to check with French customs if, and how, they require you to declare goods and pay customs charges, if applicable.
Thank you.