Blue Iris and IP cameras, iSpy and some IP cameras, or UBNT NVR and cameras will do what you want.

Blue Iris and iSpy require a computer on each premise that is running at all times. You also have to figure out handling potential power outages.

The UBNT system also requires their NVR on each premise, and power outages are also sort of an issue.

As suggested above, the Nest camera system is pretty straightforward, and gives all the items you want. It comes back automatically after a power outage.

I personally run my own stand alone cameras and NVR's, but that's because I am a nerd. For simplicity, I would run the Nest system.