The US Attorney's Office said in a news release on Friday that Protho then parked the vehicle in an alley and assaulted the child.
The girl was then able to escape and flag down a passing vehicle. Prosecutors said the driver who stopped for the girl contacted law enforcement.
The FBI noted that the time stamp on the video released on Friday displayed the wrong date, but captured the December kidnapping.
Protho, 38, of East Chicago, Indiana, was arrested on December 27 and charged on Friday with one count of kidnapping. He remains in federal custody, the US Attorney's Office said.
He will next appear before a judge for his arraignment on February 20 and faces a maximum sentence of life in prison.
The FBI's Chicago bureau said they released the video as part of an ongoing investigation to see if the vehicle may be connected to any other crimes.