No
There is a converter to change the videos to files portable devices can read, like my PSP, but first I don't think you can put typical files on an iPad, second it's a pain because youtube is against you keeping their videos so constant upadting of the converter is needed.
You can easily get YouTube videos on your iPad; you just can't do it directly from the iPad.
You use a downloading tool such as MacTubes on your Mac to download the videos in MP4 format, then add them to iTunes, then sync the iPad.