What’s an inexpensive way to transmit a video signal from a security camera over the Internet?

We have installed security cameras at one location in our business, and have decided it is best to monitor the feeds from a different location. Both sites have high speed internet via cable bodem, and the camera uses a standard RCA video jack. Is there a simple hardware and software solution to transmit the feed to be viewed on a PC screen at our other location? I have looked at Slingbox, but think that may be overkill for our situation. Any help would be appreciated.