Let us first consider a closed interval $I = [c,d]\subset [A,B] =F([a,b])$ (for the last equation use monotonocity and continuity of $F$ (intermediate value theorem)).
It is easy to see that $M =F^{-1}([c,d])$ is a compact interval $M =[x,y]$.
Hence, $\chi_I (F(t)) F'(t) =\chi_{[x,y]}(t) F'(t)$ is measurable with
$$
\mu(I) := \int_{[a,b]} \chi_I (F(t)) F'(t)\, dt = \int_x^y F'(t)\, dt = F(y)-F(x)=d-c,
$$
where we used the choice of $x,y$ in the last step.
Side Remark: Using Dynkins $\pi$-$\lambda$ theorem, one can now deduce that $\mu(A)=\lambda(A)$ holds for all Borel sets $A\subset [A,B]$, where $\lambda$ is Lebesgue measure. But we do not need that here.
As $F$ is continuous (hence Borel measurable) and $F'$ is measurable, it is easy to see that $f(F(t))F'(t)$ is measurable for $F=\chi_A$, where $A$ is a Borel set.
Every Lebesgue measurable $A$ set can be written as $A=A' \cup N$, where the union is disjoint, $A'$ is Borel measurable and $N$ is a null set. Hence, it suffices to show the claim for $f=\chi_N$, the general case then follows by expressing $f$ as a limit of simple functions (how exactly?)
But for every $n\in \Bbb{N}$, there is a covering $N\subset \bigcup I_j$ of $N$ by (compact) intervals $I_j$ with $\sum \lambda(I_j)<1/n$, where $\lambda $ denotes Lebesgue measure.
Then $0\leq \chi_N (F(t)) F'(t) \leq \sum \chi_{I_j}(F(t)) F'(t)$ with
$$
\int \sum \chi_{I_j}(F(t)) F'(t) =\sum \int \chi_{I_j}(F(t))F'(t) =\sum \lambda(I_j)<1/n,
$$
where we used the calculation at the beginning of the proof.
This easily entails $ \chi_N (F(t)) F'(t)=0$ almost everywhere, so that this function is in particular Lebesge measurable.