These guys at Painting Buddha are producing some of the best video tutorials I've seen out there. They have done a couple historical figures such as this:
The filming is top notch with a camera on the palette as well as good close up HD shots of the work being done on the figure.
They do a fair share of sci-fi and fantasy as well but Ben Komets is an award winning painter who paints pretty much anything. Check out his facebook feed and you'll see historical and everything in between.
The content they produce is free and on youtube. To continue making it they are running a patreon campaign you may want to check out if the tutorials look worth it.
Painting Buddha Patreon Campaign
Just wanted to share and hope you also "Share and Enjoy" as the Painting Buddha guys say.