I dont recall if the "wardrobe malfunction" in the Janet Jackson/Just Timberlake Super Bowl half time show resulted in a fine, but pretty much all live broadcasts are now delayed 15-30 seconds or so that so a producer (or whomever) can hit the censor button if something comes up.
"Between 1990 and 2004, the Federal Communications Commission (FCC) issued fines totalling $2.5 million to radio licensees for airing material it deemed indecent from The Howard Stern Show, the highest amount of any American radio show. "
"On April 8, 2004, Clear Channel was fined $27,500 for each of the 18 violations for a combined $495,000 NAL for airing the broadcast on its six stations that carried Stern"
Any of these publishers could sell tapes or dvds of these shows and face no fines whatsoever. Similarly, they could air them on the internet or on cable television that is not subject to public control of content. There's no restrictions on the content itself, there's restriction on the use of publicly owned bandwidth.