Yeah, it's simple to do. Open Camtasia Recorder, then click Tools > Options. At the top, if it isn't on the "Capture" button, click it. On the file section, you'll have two options, save as .CAMREC and save as .AVI. Pick .AVI. Open Sony Vegas, click Explorer, and then go to the Folder the file was saved to (Usually Documents > Camtasia Studio), and when you've found the file drag it to the TimeBar. Yay, done! Now crop, add titles, music, and effects.
To produce, click on file, and then produce, and I would recommend to use a .WMV file, as it has good quality and a low size. Now upload to YouTube. Woot.