It seems like the vast majority of the people bashing Boys Scouts weren't actually scouts. But it's definitely a unique experience that's hard to explain to "outsiders", although it really does varies from place to place. Our troop wasn't a group of sheltered 12 year old's and didn't really take the whole religion portion very seriously, But I've heard about some troops that do very strongly.
But as an Eagle Scout I can say it was a great experience, I learned about things I probably wouldn't of even bothered to try if I wasn't a Scout. I also learned some leadership and people skills I probably wouldn't of otherwise being home schooled (Another thing that seems to get a lot of flack, but that's another discussion).
Our troop wasn't anything like the kid in UP. Sure we had our batch of annoying 12 year old's, but they where only as annoying as every other 12 year old and usually had grown out of it by the time they where 14. None of the boys in the troop where anymore sheltered or nerdy then other boys, and most of them where in the 15 to 18 age range.
We went on plenty of camping trips. Ranging from short car camping trips, to summer camps, hiking trips and canoeing trips. We've even slept at Space Center Houston and the USS Lexington.
I don't agree with the policies of the organization, and their websites and schemes are rather bullstuff. But if I had the choice of doing it again I definitely would.