Well, a smartphone camera such as an iPhone 6 or etc would do the trick pretty well in high quality. A lot of YouTubers with 100,000 or 500,000 subs have only used their smartphone camera on a tripod. But they key to their videos looking so good is the lighting. Make sure you are facing good natural lighting when making the videos. It is one of the best ways to make the quality of the video better than before.
But if you really want a proper camera for YouTube, I guess a camcorder does the job well or even a DSLR cos of the ability to change lenses. I personally use a Sony camcorder and so far, the quality is amazing.