YouTube Capture for iOS lets you record and upload to YouTube, Google+, Facebook and Twitter5
Once that is all done, you decide where you want the video to be sent and whoosh! Off it goes to be uploaded to YouTube, Google+, Facebook and Twitter, or any combination of those that you choose. You can decide on a private listing which means only you can view the video, an unlisted posting which means only those with a link you send out can view the video, or a public listing which means that anyone can see the video. Even when the app is minimized, the uploading continues in the background.
Capture is available starting today from the Apple App Store. And yes, Google is working on a version for Android that will be available "in the future".
source: Google, YouTube via Engadget