The correct statement is
> Let $H$ be a quasi-triangular Hopf-algebra, then $\text{Rep}(H)$ is a braided monoidal category.
This statement is covered in Kassel, see proposition XIII 1.4 in his chapter on braided categories. The literal statement is stronger:
> Let $H$ be a bialgebra. Then $\text{Rep}(H)$ is braided if an only if $H$ is a braided algebra (also called a quasi-triangular structure).
The easiest braiding obviously is a flip map. Notice that if $H$ is a cocommutative Hopf-algebra (i.e. the quasi-triangular structure is trivial), then $\text{Rep}(H)$ is trivially braided.