My team webcast the Seattle Regional last year, just for the purpose of a couple of grandparents who couldn't make it to the event but wanted to see it. We used
http://www.ustream.tv/ and it seemed to work very well. Very nice packaged solution, I believe the only problem we had was when the camera's batteries ran out!
You still need the camera with a computer hookup (firewire most likely, make sure you have a computer that supports it), but this is much easier than trying to fool around with getting the right ports forwarded and such, and then having bandwidth to stream to all clients connected (multicast is the ideal solution, as [whytheheckme] pointed out, but most routers/ISPs don't have this enabled)
Good luck!
--Ryan
P.S.: The service was free, and I believe it still is
__________________
FRC 2046, 2007-2008, Student member
FRC 1708, 2009-2012, College mentor; 2013-2014, Mentor
FRC 766, 2015-, Mentor