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I figured it out. I googled the issue under general XML syntax, not just a roslaunch problem.

You can use "& amp;" for the "&". So my code now becomes this and it works!

<launch>
  <arg name="cam_name" value="my_camera" />

  <!-- Start the GSCAM node -->
  <env name="GSCAM_CONFIG" 
      value="souphttpsrc location=http://10.16.63.224/control/faststream.jpg?stream=full&amp;fps=0 timeout=5 ! jpegdec ! ffmpegcolorspace" />
  <node pkg="gscam" type="gscam" name="$(arg cam_name)">
    <param name="camera_name" value="$(arg cam_name)" />
    <remap from="camera/image_raw" to="$(arg cam_name)/image_raw" />
  </node>

</launch>