You say bees and yellow jackets - makes a difference to whether you leave the nest in place or not. Bees make honey-filled combs, yellow jacket nests have very little liquid in them so can commonly be left in place without problems with molding and rotting honey and ants and such.
IF they have not been in there long, just spraying with Black Flag wasp and hornet killer at night when they are not active, then sealing up the holes should take care of it. if bees and they have been there a long time, then probably best to remove the comb.
Exterminator to kill and seal - probably about $75-100.
To kill AND remove nest - probably best to get killed first, then call a siding contractor to remvoe the siding in that location, remove the nest (once killed), then put siding back up - probably $250-350 for a small area.
