If you were talking about two circular pieces on each end of a shaft, the easy answer would be a position tolerance ... and this would be the one rare case where no datum references are required (they each kinda become a datum for the other).
But because you are talking about lobed cams, the best GD&T option is profile. This would control the shape, size, orientation, and location (axial only) of the two cams. Just as profile can be used to align two coplanar flat surfaces, I'm thinking that a similar scheme can be constructed here. Just do an all-around profile tolerance (no datum references) on the cams and be sure to say 2 places or something.
However, I'm interested in others' comments on my suggestion.
John-Paul Belanger
Certified Sr. GD&T Professional
Geometric Learning Systems