STEP 1:
Go your Episode Manager page (https://v3.sermonstudio.net/secure/Episodes) page within your Account.
STEP 2:
Select the Episode you want to upload to Facebook or YouTube.
(illustration steps 1-2)
STEP 3:
Click on the [Video] button.
(illustration steps 3)
Step 4:
Scroll down and click on [Upload to YouTube / Facebook], and follow the on-screen prompts to login and upload the video to your Facebook and YouTube accounts.
(illustration steps 4)