We have the Foscam- if you know how to set up routers, etc., it's not that difficult to do. There is an app but there's a free version and a paid version. We have the app on our smart phones (Droid) but there's also an iPhone version, and we also can access it on the internet (password protected). You log into the camera so that has to be set up through your router.
I'm due end of January so we haven't used it for a baby but had a lot of fun tormenting the cat for a little bit when we were testing it out. (With the paid app we can talk into it.)
My DH says there are other apps as well but we haven't tried any out. The one we have was recommended by a friend.