Tip #1: Video Length
When YouTube first launched, part of the algorithm was based on views. The more views your video got, the higher it ranked. About two years ago YouTube changed their policy.
Tip #2: Video Name
Improper naming structure is the most common optimization mistake I see.
Tip #3: Video Description
First and foremost, add a link to your website. When I perform digital marketing audits I can't tell you how many of my clients neglect to link to their website or landing page.
Tip #4: Create a Playlist
Playlists are the final piece when uploading a new video.
Tip #5: Custom Thumbnails
When you upload a new video YouTube will give you 3 random screenshots from your video to choose from.
Tip #6: Optimize Your Channel Page
Your channel page is another often great opportunity to alert the algorithm about your content. Make sure that you fill out every aspect of your page.
Tip #7: Push to Social Platforms
Tip #8: Build Links and Embed
If you follow tips 1 - 7 your video will get indexed in Google within a matter of minutes. If you want to rank for competitive keyword searches (i.e. 'Miami SEO company') then you will have to build links to your video URL and embed the HTML on other websites. Link building is a tricky endeavor and it's a double edged sword.