I don't know of a single resource that covers the whole chain.
but it is four years old, and out of date for many of the details, but the general approach is still the same.
Oracle VM VirtualBox on Windows is a standard installation.
Simple enough that you don't need the instructions for much.
You do need to allocate more than the minimum (default) memory and minimum number of virtualized cores to the VM.
Ubuntu on VirtualBox is a standard installation.
Get the ISO from the Ubuntu website, and put it on your Windows machine where it is easy to get to.
Open it from inside the VM.
Eclipse on Ubuntu is a standard installation. Instructions on the Eclipse website.
Use the newest one preconfigured for "C/C++" from the Eclipse site.
The one in the Ubuntu apt repository is 4 years out of date. Don't use that one.
RSE is an optional module for Eclipse, loaded through the application. Installation instructions are inside Eclipse 'Help.'
I assume that you will connecting between the BBB and the Windows/VM via Ethernet local network.
I doubt that this would work through the USB widget/gadget.
You will probably have to change the security settings on the BBB to allow SSH into the Root account, for easiest operation of RSE.
Otherwise, you will keep running into the Linux security on the BBB.
Google is your friend.
Ask questions if you have problems.
--- Graham