Tough to do
Skip can verify this, but I believe NH's law still states that if there are not any no-tresspassing signs on a property, you may tresspass. That said, most of the cool islands to camp on are already posted. The best time of year to "get away with it" is spring and fall, where there is nobody around. You could also look up the owner's name on a tax map, and ask permission. During the prime season, I think its safe to say that there are no official camping spots on the lake. To identify any spots in this forum would probably cause the spot to be overused, noticed, and posted....
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