Thanks for all the ideas. I have been thinking of building an upside down U shaped frame that would span the top of the TC and pivot from the lower edges of the camper. Then I could attach one end of the kayak to the frame and lift the other end of the kayak from behind the TC allowing the frame to swing forward, lifting the front of the kayak into place. It works on my drawing program!
First, though, I think I may just try muscling it up there. It isn't heavy, just awkward. In the meantime, please keep the ideas coming. I'm sure someone has thought of a better plan than I have come up with.