I agree with the leadership-by-scout. We used to run a "crossover weekend," and taught the boys a lot of camping fundamentals the first 48 hours they were Scouts (incidentally earning them 2 or 3 skill awards, a totin' chit, a fire chit, and signing off a couple of steps toward the hiking and camping merit badges.)

After that, we progressed them pretty rapidly toward leadership by Scout, and the Scoutmasters quickly became more mentor and less leader. When they were planning a trip, they'd either reach a spot where they were stuck or had made a bad choice; at that point, we'd ask them questions to get them back on track. In the field, if something went wrong, it usually wasn't bad enough to be a serious problem, so we'd help them figure out how to solve it or cope with it.

Leadership by Scout works.