Add Chapters to Video Output

To create that you'd have to load it into a player such as the one you mentioned in YouTube which jumps to points in the timeline. Vimeo (or other video services may provide that).

In either case you wouldn't be able to share a single MP3 file. Regardless of what you choose, the video has to be in a player that can control the cue points. Then you'd have to share a link or embed it on a page where the player sits that can play the video.

If it were me, I'd leave it in Storyline and set it to auto advance which would function like the video and then create some sort of "player" that looks like it's jumping around.

Here's a really simple demo to give you an idea. The slides auto advance at 3 seconds. I added little buttons on the bottom that jump to different sections. Depending on how you show the line at the bottom it could look like one single path.