First I tried Armor All Wheel Cleaner. You spray the tire cleaner on the yellow jacket and when the yellow jacket has to land, smash it with the Armor All bottle. This method is really not the best but it is effective (I have a picture to prove it).
Second I tried LA’s Totally Awesome Orange All Purpose Degreaser and Spot Remover. This method was pretty good. You spray it on a yellow jacket and the orange smell kills the bug. It seemed to also deter other yellow jackets from the area where I sprayed the crap. Also, it removes grease (I did not test this though).