Are you referring to your own camera? Or cameras elsewhere? If you are referring to the latter, sorry, nope. Off hand I know of no legal way to do this. If you are referring to your own camera in your own home, maybe.
Now if it is a camera you already have in your home, have you checked with the manufacturer to see if they offer and app and/or software updates to do exactly what you are asking? Many companies are updating their security software, and adding apps, for just this purpose.
If it isn't a camera you already have, then a good option is to try using an IP camera. These you can connect to via cord or wifi, and even access the info when you aren't home. So I would really suggest that option first.