I'm pretty sure that goes against Google's TOS and isn't possible. Google only want's you to use their Youtube channel/app for YT videos.
you need direct video link , if you want to ad a video into a Roku channel.
youtube only provides an embed page so you can't use youtube links.
for Roku youtube will not work
you need a video hosting that allows video streaming and gives you access to the direct video link.
i think on Amazon you can create channel out of your YouTube playlist but .... like with vimeo feeds you can't really control content / categories so on .......