iPad tutorial screencasts showing touches?

I’m looking for an application or workflow to make screencast videos of working in an iPad app. I’m considering a project this summer to make a series of tutorial videos (a la Field Guides) on using forScore for iPad, but it will be important to show touches, gestures, and Pencil inputs, none of which come across in regular screen recordings. Is there a way to capture this, or is it only possible to “fake it” with post-production animations? Mouse/Trackpad cursor won’t work, because I need to show some gestures and Pencil input. Thoughts?