The easiest method is the gasoline. Cheap, effective, works right away.
Go out when temps are low, below 50 is best, but 55 is OK, late evening or early morning when light is dim and they are all at home. Have a can of about 8 ounces of gas, just dump it on the nest & walk away.
Next spring when temps start to warm to 70+ start putting out commercial yellow jacket traps, the kind that use a pheromone as attractant. You will catch the queens before they start to set up housekeeping and each queen is worth a few thousand workers later in the year. If your taps don't catch any in the first few days, move the trap because as with a business, the secret to trapping yellow jacket queens is location, location, location. It's too late to bother with the traps now; you'll catch a few workers but they are a very small fraction of the total.
I have been using the traps for almost 20 years and the yellow jacket populations here are much smaller than before, the trapping has gradually worn down the population. I did find one nest, gassed it a couple weeks ago and have seen only one yellow jacket since then.
And yes, skunks are great.
And FWIW, gasoline works on carpenter ant colonies. Not when they are in your house, of course, but when you find the colony outside.