In a colloquial informal speech it would be something like "Может видеозвонок через Скайп?" или "Давай устроим видеозвонок по Скайпу?"
I never heard, that people asking "to speak in skype" and "with cam" in the same sentence. (I don't sure, but may be, because skype as most popular video-chat implies a cam), so, if consider, that you need translate question, will be better use:
Может быть поговорим в скайпе?
Because this will not so intrusively, thought, probably, it will be possible to find better sentence if to know context.
Давай свяжемся через скайп?
Можна на скайпе с веб камерой поговорить?
