We just found out last week that if you have a YouTube account in good standing and 1,000 or more subscribers, you can get YouTube Live Events. Basically a way to stream to your Youtube account. In this video, I show you what you need to get approved for streaming, the process of setting up an event and of course streaming it.
I use Wirecast for the software host (Get Wirecast Here). You can use other software, especially if you are setting up more than one camera.
Also check out all the other tutorials on How to Record Podcasts including this video.