You can take screenshots from the application itself. Just insert the time lapse in seconds before the shot. ScreenSteps can also interact with other applications that take screenshots, like Gadwin PrintScreen.
It's really easy to use. Just add slides to the tutorial, each with its own image(s) and some short instructions.
Once you take all the screenshots, pick an output format for the tutorial (PDF or HTML) and the layout for the images (one or more per page).
ScreenSteps also has a simple image editor with which you can crop a picture, add shapes and frames, etc.