Yeah, if you're good enough.
YouTube wise you'll make about $100 for every 80,000 views or so with advertisement (depending on the partnership deal you have with Google AdSense). So if you consistantly bring out quality animations and have a loyal fanbase, you could make some decent money.
There was an article recently about how Fred, Shane Dawson and all those other YouTube celebrities turn 6 figures annually from advertisement and general views. While they're generally talentless and have no animation skill, if you can rack up a similar view count you could look at some serious cash.
That being said, nothing adult or rude can be used with advertisements. Trying to make something legitimately hilarious which is PG13+ is somewhat hard, well, for me at least.