Two I know of are the
Trailorboat (very vintage) and one that has had various names that are usually variations on Miti Lite (but not all of them had boats on top; in fact, maybe only very few built by Take 5).
I think the
Trailorboat would only provide rudimentary camping; the Miti Lite type have a pop up and are still small, but not crazy small.
I think they must both have links on the home page, so you can see them (I looked, and they are both there - although the Miti Lite is not shown with a boat, probably since so few had them).
Raya