I built a monster of a dolly that can support not only the camper, but probably the truck too:
http://www.wanderthewest.com/forum/index.php?/topic/546/
Some folks have acquired metal trailers which I think are better because they typically hook to a hitch so can be pushed/pulled it in/out very easy. I have a sloped driveway, so with the help of a pully on the back wall of the garage, I lower the dolly with camper to the flattest part near the sidewalk, then put it on the truck.
Loading/unloading the camper isn't too bad. 45-60min including winching it down the driveway, taking off tailgate and tonneau cover and airing up the tires. Add another few minutes to take the jacks off. Two words: fastgun derringers. Get 'em. Love 'em. They save me a lot of turnbuckle time because on my setup, there isn't a lot of room to reach in there, particularly since I have short arms. Plus, no trying to figure out which way tightens vs loosens and you don't have to check later to make sure they didn't loosen up.
I'm a mixed bag when it comes to camper jacks. If it just a quick weekend trip and we're not planning on going off-road (more than gravel or graded dirt that is), I leave them on. Anything longer or with trails, they come off. You'll save about 35# each in weight too.