I'll try and explain my old set-up as I gave it to my stepson and don't have pictures. It was very simple and I believe came from Coleman with the Scanoe. A pole bolted in place of a hitch ball and high enough to clear the top of the camper allowing for the bow in the gunwales- a bit shorter than the camper. At the top of the pole was a horizontally swiveling clamp. Position canoe about 60 degrees from camper, lift one end and clamp then pick up other end and walk it around to front of truck and onto rack. I'd then strap down the rear and front and be on my way, took about 5 min in all. As long as your truck is not too tall, or you too short, this should be fairly easy to fab.
If my explanation isn't clear, PM me and I'll see if I can get some pics.