We were broken into about 5 weeks ago. I originally considered Frontpoint about 5 months ago, but we kept putting it off. It's the only security company that had mediocre to good reviews consistently.
They have a few options - what you're looking for is their "ultimate" version, which includes cameras. It streams online I believe, and you can turn on/off the security system from your phone or their web page.
They do not send out a rep to do installation, instead they ship the system to you (they'll probably upgrade you to next day shipping for free if you mention you just had a burglary) and you set it up yourself. It took me about 15 minutes to set up, although I had to re-glue some of the door sensors.
When you call, or email, their sales agents don't try to upsel you. They work with what you want, and try to assess your needs based on how you describe your house. If you want an extra sensor for something, they are happy to give it to you - but they will want to know why, and if they don't think it's needed, they'll try to talk you out of it. I had the feeling they actually cared about my interests, and not selling me more equipment.
They also follow up on any feedback you provide, and actively try to resolve issues. I'm really happy with them. They use alarm.com for monitoring.They also have additional styles of sensors that the average joe doesn't care about (ones that you install in the door, rather than putting on the outside of the door - i.e. invisible), but you need to ask. They try to keep it simple.