We have both Mud Daubers and Yellow Jackets in my neighborhood, and each Spring I have to kill lots of them.  The Mud Daubers have built nests under the eaves of my home, and also on my garbage containers.  I was attacked twice while putting out my garbage.  The Yellow Jackets have built big underground nests in my yard, turning it into a dangerous minefield where a misstep can bring an attack.

Easily the best killing spray I have found is the Spectracide Commercial Wasp and Hornet killer.  It kills them on contact.  They fall down right away, and die in a few seconds, so it is a very quick and humane death, without a lot of suffering.   Sprayed down into the entrance to a Yellow Jacket nest in the ground, it is extremely deadly too.  I wait until the evening, when they all return to the nest.   And then inundate the nest with the poison.   In each case, the Yellow Jacket Queens were the only ones strong enough to crawl out.  But they died right near the entrance.   They were HUGE!