I downloaded MiTube, the MxTube equivalent that was snuck into the App Store for a short period. Apple quickly removed it, so I don't think you'll find one in the App Store unless another one is snuck in, because I would assume they aren't allowed.
[app]Downloads[/app] - set the home page to the U.S. YouTube Mobile site, and downloading YouTube videos is easy from within the app. It's not a Cydia app, just a regular Apple approved app.