The man grabbed the girl on 20 December, put her in the car off and drove to a nearby alleyway where he allegedly assaulted her.
She was later able to escape after flagging down a passing car for help.
The man can be seen in the video standing near a red SUV as the girl, who the FBI has blurred out, walks by him.
The US Attorney General’s office said Bryan Protho had been charged with one count of kidnapping.
The 38-year-old was arrested on 27 December. He will appear in court next month.
If convicted, he faces a maximum sentence of 20 years in prison.
The FBI noted that the time stamp on the video displayed the wrong date but insisted that it did capture the December kidnapping.