I'm fairly certain the OP is asking about a B+/C. Most RV's of this type are rated to tow 5,000 lbs. And most states now require a braking system on anything over 2500 lbs that you tow.
The variables, though, are many. If your RV is already heavy and loaded to near it's maximum rated weight, then you may be borderline on towing. Also, considering where you are going you might be OK. Planning on sticking to flatlands? Then maybe it's OK. Want to cross the Rockies? Then probably forget it.
Most folks experienced at towing are going to recommend you have plenty of reserve power in both engine and braking. That may be a bit conservative, but it's hard to argue that it's not the safest approach.
Others will say that the point of buying a smaller RV is avoiding the need to have a tow vehicle in the first place. You still see many people doing it, as the convenience of having a car along trumps the inconvenience of dealing with towing a car, at least for them. You hardly ever see a B-van towing a car.
Whatever you decide to do, good luck! Personally, I'd look for a much lighter tow car for a small RV. Something like a smart car or a geo metro is probably easier to deal with behind a small RV with marginal tow capacity.
