Did one last week. They run everyday, I called the night before and got a pick up at the Mall of Emirate. Used Green Land Tourism as mentioned above. Paid the pick-up driver 75AED ~25-30USD. Pretty much as described by YohYohY, short drive on the dunes in a 4x4 followed by 50 people trying to ride 2 camels and hold 1 falcon. ATVs were extra, I think 200 AED for 30 mins in circles around some tires. Then back on the 4x4 to the camp which was a nice set-up. Soda, dinner and 2 dance acts. They did ration out bbq meat and did run out after 45mins. The side dishes lasted awhile longer maybe 1.5hr. Sisha was free to smoke in the corner but extra to bring to your table.
Overall nothing spectacular, but was fun to experience the desert and see a replica local camp. Plus what can you expect for $25.
I did come across tours advertised for ~100usd, maybe you will get more from those, maybe not...