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camshafts are used to control the valvetrain...so yes they effect torque.
torque is applied through the crankshaft yes, but the vavles can determine what the engine gets as far as air and feul.
also crankshaft and the camshaft are connected for timing purposes so that valves open at the right time during the crank. thus a lighter valvetrain = less torque lost at the crank.
SOHC's with 4 valves/cylinder require rocker arms which add recipricating mass. DOHCs are more efficient with VVT.
basically DOHCs can rev higher than SOHCs so your torque per hp is less with DOHC. but that doesnt really matter...
but alot of it really depends on the specific application...
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