You don't say which tape format the camcorder tapes are recorded on. However, if on the old VHS-C cassette....
(Unfortunately, if it's on Hi-8 or digital tape, then I have no solution for you.)
Your camcorder is far to delicate a piece of equipment to risk playing mouldy tapes in. However, on a more robust full sized machine it may be worth the risk as video's hate anything damp. You need to have the tapes as dry as possible.
1) Obtain a VHS to VHS-C cassette adaptor. (quite cheap).
2) An old but working VHS video recorder (should be cheap!).
Connect the VHS video to your camcorder and attempt to copy the damaged tape back on to a new VHS-C cassette.
I don't know of any cleaning method myself.
Cobweb, October 2006