For a given video on YouTube, you can visit http://youtube.com/watch?v=[code] on any iOS device to see the video.
However, if you use the http://youtube.com/embed/[c
Consider using MediaElement.js. It can wrap youtube videos for display as html5 on ios, with flash fallback for other device/browser types.
One of the demos that are provided with the source shows this, and it's fairly simple: