The Clay Center Observatory in Brookline, Massachusetts, is broadcasting a live video from their 25-inch telescope (see their Facebook post). The Keck Observatory in Hawaii is also broadcasting a live video, available here and here (see their Facebook posts).
The asteroid is closer than the Moon, as can be seen in the diagrams below:
The upper diagram is looking straight down on the ecliptic plane, and the lower diagram is looking edge-on to the plane. 
2005 YU55 is a C-type asteroid, nearly spherical, 400 metres in diameter, and “darker than charcoal at optical wavelengths”.   Its name indicates that it was the 1395th minor planet (“U55”) discovered between 16 and 31 December (“Y”) in 2005. 
The image above was captured from Clay Center’s broadcast at 11:28pm (by Lights in the Dark). A couple of real-time clips from that broadcast are available here and here, and some timelapse videos are available here, here and here.