I needed this same thing a while back and after reviewing the options (Camtasia, etc) I ended up going with Demo Builder 6 (now they're on version 7). It's super simple and, at the time, offered more features than Camtasia (at the time I bought it over a year ago).
I mention it here because it wasn't easy to find (maybe they've made themselves more findable though). Check it out:
On a somewhat unrelated note, to get cheap background music I used SmartSound (http://www.smartsound.com/). They have a free plugin that works with Adobe Premiere and Adobe Premiere elements (You can purchase/customize the music track there and export it as a wav file). So it only cost me $25 to add professional intro and conclusion music.
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I have use this software in the past and I can tell it is great, not sure why it was not developed anymore, but I had results. Make sure you have enough memory if you are planning on doing long videos. Otherwise you may get some green frames appear in the middle. I have actually done a training website that contain video for an italian cruise line with great results....
If you need tip or anything let me know I will gladly give you a hand.