The date range filter of your search engine of choice, combined with 'site:youtube.com'. You also get the other behaviours of that search engine, though Google probably has the most complete index in this case.

I've also tried the 'sort by oldest' programmed Google search that was posted here,[1] but its index seems to be missing many pages—youtube videos with few views in particular—compared to general Google.

[1] https://news.ycombinator.com/item?id=31333436