Both of them did fine, as expected. Three observations:
(1) It was obvious that each was arguing from a different ideological framework and sets of values - and they acknowledged as much. This was refreshing even if Cruz was pretty evasive about the grim and brutal realities of not treating healthcare "as a right."
(2) Neither Senator had a concrete plan that they were uncritically defending, and this allowed them to get away with a lot. Sure, Sanders was speaking in defense of Obamacare, but he repeatedly acknowledged the law's flaws and advocated for a single payer system. Similarly, Cruz was very critical of Obamacare, but he didn't have a single Republican replacement plan for he which advocating. He didn't even have an outline and even resorted to the "purchase insurance beyond state lines" claptrap, as if that's going to be universally affordable, as if that's going to make up for losing most forms of free-at-point of access preventive treatment, and as if access to cancer treatment in a Delaware hospital would make any difference to someone living in, say, Nebraska.
(3) The rhetoric about "health care as a right" would be more convincing if it were framed as health care as an obligation or responsibility. We have a responsibility to take care of ourselves, and each other. I think you can sketch out the basic question - Should emergency departments be permitted to turn sick and injured people away? Should hospitals be permitted to lock out pregnant woman who need care? - and justify a great deal of intervention from there, both public and private, both medical and non-medical: Complete streets and sidewalks; clean air, water, and soil; mandatory vaccinations; preventive care, especially for pregnant women; better nutrition; cigarette, alcohol, and soda taxes etc. If you want to get into the emergency department when you need care, you need to work on all of these things. All of them improve health and usually they will be more affordable than critical care.
Of course Sanders political instincts are better than mine, and American voters have an extreme allergy to accepting any kind of responsibility (e.g. childish tantrums about paying taxes, jury duty, etc.).
Very important and correct point:
The rhetoric about "health care as a right" would be more convincing if it were framed as health care as an obligation or responsibility. 
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