According to Chicago Manual of Style, it gets cited as follows:
Hays, Richard B. “Did All the Gospel Writers Believe Jesus Was Divine?” Streamed live on Dec 4, 2014. YouTube video, 52:41. https://youtu.be/XHE6rWTcQW0.To get the short YouTube url, you need to click on the Share button and then copy that.
Simple, isn't it? But note that this is in their FAQ, not in the actual CMS17 itself.
Use this url to access the CMS site for questions: https://www.chicagomanualofstyle.org/tools_citationguide/citation-guide-1.html. I use it all the time to find the paragraph numbers and then consult the physical book. You need a subscription to access the online version of the manual.
See all the copyediting stuff here.