i think there's a couple...personally ive been to the 1 down in frisco, pretty chill place
The outer banks has quite few and the one recommended abov is by far the best. As for on the beach, beach camping is pretty rough and....sandy.
Buxton, has one as you make your way to the point, but its wide open and not very private. There is another one once you past the spaceship on the left called Buxton Woods? I think. Frisco Woods is the bomb though. Just watch out for the salty sea hag that works behind the counter.
I think the one in Frisco is simply called Frisco Campgrounds. I haven't actually stayed there, but a friend did and recommends it. I did drive in once to check it out. There is a beach ramp adjacent to the drive entering the campground, which is nice. There is also a store across Hwy 12.You can't technically camp on the beach down there, but this is pretty damn close.
For the Frisco ramp, look for Billy Mitchell Rd. Once you're on it, you'll pass a small airport on your right. If you have a 4X4, make sure to drop the air in your tires to 20 lbs. Also, make sure you drop the air BEFORE driving out on the sand. There are always people getting in the way and blocking traffic to the ramp because they are dropping their air when they should have done it earlier. If you don't have a 4X4, the Frisco Pier is near by and is a closer walk with pretty much the same sandbar. With all that being said, Frisco really isn't worth checking in the summer, unless the wind switches and comes from the north. This usually doesn't happen until early fall. Odds are, it is usually blown out and small in the summer with the SW wind.
Frisco Woods is a nice little campground. Right in between Frisco Pier and the lighthouse. This time of year however, your best bet would probably be North End Campground in Rodanthe. It's walking distance to both the pier and S-Turns, and as of last week has one of the best sandbars in the area right out front. There is no camping on the beach anymore. As a matter of fact you can't even drive on the beaches between 10PM and 5 AM.
The Frisco camp ground is f-ing awesome. It reminds me of living in some kind of ewok village or something. All kinds of little nooks and crannies. You can pick a smaller spot or bigger more open spots closer to the top of the dune. By far my fav. camp ground down there.