I had two yellowjacket nests in the wood siding of my house this summer. Several cans of foaming spray had no effect since it couldn't penetrate far enough inside. I found a random forum thread where someone suggested using Sevin insecticide powder on the openings. It took a week and a half of daily applications using a paintbrush, but it seemed to be effective. Less expensive than calling an exterminator, and I have most of the can of powder left for next time.
Pro tip if you're trying to deal with any of these: Do it while it's cold. Do not (as I did the first time) gird your appendages in towels and other random shielding, then do it in the mid-afternoon when it's been warm for hours and they're prepped to go like fighter jets with warmed up engines. Get up first thing in the morning when it's crispy and you can just get a can of bug spray and coat each one as it comes out. Ethical? No. Effective? Yes. I believe those two might be at odds.
I do it at night. They sleep, and using a red headlamp I don't think I disturbed them too much. After I saw activity drop off, I used expanding foam to seal the hole.
