This debate took place in 2001. Bill Craig has been debating this topic for a long time. Link. A book came out in 2009 with a transcript of this debate along with other essays: Is Goodness without God Good Enough?: A Debate on Faith, Secularism, and Ethics.Check it out. I am.
I realize that the truth is that all of the debates and comments that I have heard from Dr. Craig are the same regarding Morality. Anyone who debates him should know what his arguments are going to be and if they have had any decent rebuttal and alternatives they should have brought them. I appreciate Loftus posting links to the following debate. I don't agree with Dr. Craig on every single point of his theology but we do agree that God is the basis for morality. Without God objective morality is not possible. I'll update this post when I decide if I think Paul Kurtz did better than Sam Harris.
Debunking Christianity: Goodness Without God is Good Enough: William Lane Craig vs Paul Kurtz