If it's for YouTube, then you likely aren't interested in 4K.
I'd recommend a Sony E-mount mirrorless camera. They take really good video and the standard lens has stabilization (which is very useful for video). They used to be called NEX (so NEX-3, 5R, 6, 7), though now it's A3000, A6000, etc.
Even the cheapest one has an excellent APS-C sized sensor that's used in mid-range Nikon DSLRs. Much larger than what's in compact point-and-shoot cameras, phones, or GoPro, which gives greater low light performance and noise control.
I'd set that as the baseline if you want decent video quality. Anything less and it will look very evidently homemade.
As for the tripod, the cheap ones are usually garbage. Be advised that until you get to the $120+ range, ideally Manfrotto or upwards, you'll get a rickety tripod. I have no idea why it's so hard for companies to make a solid tripod for little money, but it seems to be one thing they cannot accomplish. Monopods can be cheap and very useful for filming videos.