Julene,
When you share your screen, make sure to share audio and optimize for video clip in your sharing options Optimize for video clip . You can choose to share from your browser or share a video you have downloaded to your computer. Having a video downloaded to your computer may be the best way to avoid ads on Youtube for example.
Once you've recorded the program, you can find the mp4 on your computer (if locally recorded) or on the zoom portal (if cloud recorded) and upload it to youtube.
Please mark this as the solution if this helped you, so it may help others.
Brad