How do I do it - is there a way?

You could put the front of the camper on the bed (remove the jacks) and use some thick dowels between the bed and the camper to allow your truck to "roll" under the camper. Then when it's in far enough you can reattach the front jacks. Of course this isn't easy but it's doable. I've done it. It's obviously far from ideal. Or if you had some furniture dollies those could work too.

When I did it, I had two buddies on the back corners to help stabilize it and aim it as I backed under it. Probably the most nervous I've been since my wedding.