I just found this company. I have just added them to one of my sites. They have a wordpress plugin or they give you a code to edit to your site if you know how to paste code into wordpress. They also support others as well.
What will happen is a small ad will be on the top of all youtube videos that you have on your site.
They split ad money 50/50.
You can pick the advertisers that you want on each video or they will auto pick for you from your keywords.
I have no idea how much $$$ I just joined. I know ads for Best Buy and ebay have been showing up on my site.
Here is the site Coull
Let me know what you think of them.