You don't need poison to do this. You should clean out your yard of food
they like to eat and use traps to catch the queen. You can even use boric
acid.
It is pretty hard to eliminate food for a yellow jacket. They eat
bugs.
Boric acid is poison but I agree it is safer than most. Usually you
use it in baits. That is certainly the best way to control ants.
You can eliminate the obvious food that sits out, such as dog food. They
don't just eat insects. Traps are your friend.