For the first year we had our camper, we tried bringing them in camper and laying them in the bed of the truck. Both options worked but we didn't think they were very convenient.
Here are two good options for bringing your bikes.
Option 1: an over-the-propane-tank rack like Arvika (from 2-4 bikes) or Jack-It (2 bikes)
Option 2: a rack over your pickup bed. Check out Thule or Adarac
There are ways to add a bike rack to the back of your camper. You may need to investigate welding a mount to the frame. As others have mentioned, the bumper likely isn't strong enough.
You may even be able to find a rack for the front of your truck but this seems to be a less common choice.
If you search the forums for bike rack, you'll find many past threads with lots of thoughts and opinions.
Let us know what you pick.