I went this past summer (2015) and camped along the way with my two dogs. It was my third trip up through Canada and my first all the way to AK.
I think the best part was the Yukon. I don't care for towns, but I really liked Whitehorse. I'm going again this summer, just trying to figure out the best way. The mosquitoes about ate me alive tent and car camping, even though I had screens for everything, including my car. I just didn't have adequate shelter away from them - they would get in the tent and in the car when I opened the doors.
I want to get a pickup and camper, but the way my savings are going, it probably won't happen (had a huge dental bill). I may end up with a small hardside popup trailer, like an Aliner, but I hate pulling things as trailers really do restrict where you can go.
If you haven't gone, this is the year to go with the price of gas and the loonie exchange rate.