There are many different ways to approach this case. It all depends on details of your planned system.
- Is sending the video to your PC all that you need?
- Would it be enough to show on PC's screen the video stream from your android device?
- Or would you need to receive some raw video frames so you can edit it later?
- and so on...
Based on what you just wrote in the question, I suggest you first take a look at the thing called WebRTC. It allows you to build solutions just like the one you wanted (i think).
You can build an Android client based on it (e.g. you can try to follow this example - but i think there was some problem with one of the needed libraries, I'm not sure...).
The other approach would be to use some third-party library (usually based on WebRTC).
I have personally used TokBox which in current android library version (Beta 2.2) was working really nicely as long as you didn't need the two-way audio communication (there are currently no echo cancellation mechanisms implenented). But I don't think it would be an issue in your case.
There are some other solutions that seem promising. For example Weemo (I haven't tried it, so I'm just suggesting based on what they say about their service).