Depending on the laws governing midwifery in your state, you may not be able to find what you're looking for. You can check on the midwifery laws by going to www.mana.org or www.narm.org. For ex., in my state, only CNMs (who have medical doctor backup) and medical doctors can legally catch babies at home, so they are the only midwives who can take insurance. We also have one (wonderful) doc who only attends women at home (he doesn't do hospital births) and he takes Medicaid only. Some women find that they qualify for pregnancy Medicaid but they don't normally qualify for "regular" Medicaid so maybe that's an option for you. I am not that familiar with the Medicaid regs to know whether you can have insurance plus Medicaid.
You might want to talk to the CPMs you are interested in and find out what they charge and how their fee structure works. Some women feel so strongly about birthing at home that it is worth it to pay out of pocket.