Minh-Thanh, if you've already made your crankshaft and camshaft then its a question of what alloy(s) did you use, if not then you have lots of choices, but like Mike Rehmus said folks have been running 4130 (and 1144) crankshafts unhardened AOK. The problem with hardening a crankshaft is that its going to distort no matter what alloy is used and no matter what heating and quenching technique is used, which means...
... if you do harden your crankshaft are you prepared to grind and polish the journals to final dimensions afterwards, IE do you have a tool post grinder for you lathe ? and maybe a CBN grinding wheel as my experience with corundum is that you won't get a level surface unless the wheel is narrow enough to traverse left and right while grinding to even things out as otherwise the corundum doesn't wear evenly.
which is why I looked into nitriding, a surface hardening treatment like case-hardening, but using nitrogen instead of carbon, which can be done at temperatures lower than what causes distortion, but found that its not really a DIY process and not really affordable to have done, darn !!!
expanding on what Mike Rehmus wrote, the nice thing about 4130 for cams is that the carbon content is low enough that after water quenching it does not need to be tempered just use it as is and it will not be too brittle (but anything with higher carbon will be too brittle and will have to be tempered after quenching).
another thing, have your drill press on low speed if you're using one, I didn't and the results were more bend than could be ground out. On another occasion using low speed there was still a bit too much bend, but because the space between the cam disks didn't get very hot they were soft enough that I was able to un-bend the hardened cam blank before grinding, doesn't always work, I also broke one, but I succeeded 2 out of 3 and I only needed 2.
on my next engines I'm trying A2 (air hardening tool steel) for cam shafts, which shouldn't ever distort more than can be ground out during final grinding, but sticking with un-hardened 4130 for crankshafts.