Using the new version of the PHP library (currently 1.0.4-beta on GitHub):
require_once 'lib/Google/Client.php';
require_once 'lib/Google/Service/Plus.php';
$google_client = new \Google_Client;
$google_client->setClientId(GOOGLE_CLIENT_ID);
$google_client->setClientSecret(GOOGLE_CLIENT_SECRET);
$google_client->setRedirectUri(GOOGLE_REDIRECT_URI);
$google_client->setDeveloperKey(GOOGLE_DEVELOPER_KEY);
$google_client->setAccessType = 'offline';
// Either call:
// $google_client->authenticate($auth_code);
// with the $auth_code returned by the auth page or
// $google_client->setAccessToken($existing_token);
// with a previously generated access token.
$plus = new \Google_Service_Plus($google_client);
$person = $plus->people->get('me');
print_r($person);
The scope should be "https://www.googleapis.com/auth/plus.login" (I only tested with the "profile" scope, because I don't have a Google Plus profile).
To get the YouTube channels, you'd have to add the scope "https://www.googleapis.com/auth/youtube" and use the channels#list method, with the 'mine' parameter set to true. The class in the PHP lib is 'Google_Service_YouTube'.