Sure, go to the video on Youtube [0], click the three dots menu on the right hand side below the video and open the transcript from there. This loads all of it at once, so you can even search through it with your browser's in-page search function! Clicking a line in the transcript jumps to the correct position in the video.

It might be the most amazing feature that Youtube has.

[0] https://www.youtube.com/watch?v=sOpMrVnjYeY