I have an iframe with a video, for example:
Sure. You can use VideoJS. You may have a hard time getting control of the iFrame as you put it. You can embed various video hosting sites' video with VideoJS, supposedly.
ref:
https://github.com/zencoder/video-js/blob/df41661f47201cfbc979b1fbba68fba3d67c06b0/dev/src/tech/youtube.js
http://videojs.com/
https://github.com/zencoder/video-js/blob/master/docs/api.md