There is one trick I know that actually does not involve homebrew. Instead, it uses the crappy Youtube app.
(Note: I am assuming that you have an O3DS, like myself. If you have a N3DS, I've heard that it is MUCH better to just use the Internet Browser and go to the website.)
Start up Youtube (duh).
When it loads, tap the three vertical dots in the top-right corner.
Tap "Privacy and Terms", then "Terms of Service".
The app will look somewhat different by now. When the section that no one ever reads appears, tap "Community Guidelines".
After the Community Guidelines pop up, scroll aaaaall the way to the bottom (well, you might have to go a wee bit up). There should be a text bar with "Google Search" in a blue box below it.
Search your desired video site/videos in the text bar, then tap the blue "Google Search" box. Note: After this step, you have to pay attention. This is where it can get a bit frustrating.
Find a website that you not only like, but one that WORKS. Not every website will work properly, so you'll have to do some digging. Sites designed for mobile devices are typically the ones that will work. Also, make sure you aren't going to a Youtube link, it will just take you back to the main app.
When you find your desired video on a functioning site, look for something along the lines of "Download". Oftentimes, it will tell you that "Your device is not compatible" or something like that. Just look for the download option.
Enjoy your video! (The scroll bar is somewhere in the middle of the bottom screen, but is not the one provided by the Youtube app. It's just a long strip with the play/pause button next to it. It will sometimes disappear, just pause the video to find it. Also, the video can sometimes not respond very well.) When you're done, just hit B/L to go back to the video's page.
As for creating an app to get to said website and watch said video, that I cannot help with.
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