Yes a 1/2 ton pickup truck can easily and safely tow a 5th wheel trailer or 5th wheel camper trailer as long as you don't exceed the tow rating of the vehicle.
For camper trailers the 1/2 ton pickup can tow the lighter weight 5th wheel campers but for the larger 5th wheel campers you should go up to a 3/4 ton or 1 ton pickup to be safe.
Your 1/2 ton pickup should also be equipped with electric brakes to help you stop the vehicle and 5th wheel camper or trailer safely.