The cutoff frequency ωc = 1/RC is the frequency where the output power is halved, i.e
Pout/Pin = 0.5
Or in decibel,
10 log (Pout/Pin) = -3dB.
Replace power with P = V2/R to get
20 log (Vout/Vin) = -3dB → Vout/Vin = 1/√2
From inspection, you know that the RC filter's transfer function is
Vout/Vin = Z2/(Z1+Z2)
where Z1 = R and Z2 = 1/jωC are (in general) complex impedances. The -3dB we started with is related to the magnitude, or length, of the transfer function (the phase is irrelevant) which in this case reduces to finding the vector sum of the RHS denominator:
|Vout/Vin| = |1/(1 + jwRC)| = 1/√(1 + (ωRC)2)
Equate the above RHS with 1/√2 and solve for ω to confirm that it in fact equals 1/RC.
I agree—I think it would be a stretch to call any of this a derivation. My 'argument' is completely circular at least, but I'm too hungry to figure out if there's a way around that. Maybe one could take the route via the time constant τ = 1/ω and make a connection to the exponential nature of the (dis-)charging of the capacitor. Or something. I don't know.