We present a multi-channel P2P Video-on-Demand (VoD) system using "plug-and-play" helpers. Helpers are heterogenous "micro-servers" with limited storage, bandwidth and number of users they can serve simultaneously. Our proposed system has the following salient features: (1) it minimizes the server load; (2) it is distributed, and requires little or no maintenance overhead and which can easily adapt to system dynamics; and (3) it is adaptable to varying supply and demand patterns across multiple video channels irrespective of video popularity. Our proposed solution jointly optimizes over helper-user topology, video storage allocation and bandwidth allocation. The combinatorial nature of the problem and the system demand for distributed algorithms makes the problem uniquely challenging. By utilizing Lagrangian decomposition and Markov chain approximation based arguments, we address this challenge by designing two distributed algorithms running in tandem: a primal-dual storage and bandwidth allocation algorithm and a "soft-worst-neighbor-choking" topology-building algorithm. Our scheme provably converges to a near-optimal solution, and is easy to implement in practice. Simulation results validate that the proposed scheme achieves minimum sever load under highly heterogeneous combinations of supply and demand patterns, and is robust to system dynamics of user/helper churn, user/helper asynchrony, and random delays in the network.