Short answer. No.
Not yet, anyway.
This is something we plan to add in future - the ability to embed HTML into books - this would mean you could add YouTube videos, maps, iframes, quizzes - widgets of all sorts into Book Creator.
In the meantime - how about this...
1. Take a screen capture of the video in YouTube
2. Add a Play button (you can use Google Image Search to find one)
3. Use the Inspector to add a link to the Play button to the video in YouTube. That way, when someone clicks the Play button it will open the video in YouTube.