If you're using a color printer, then the yellow color should be printed automatically when you're using content with yellow. However, if you want to print only in yellow color, then go to Printer Preferences and access the Advanced options. From that window, there should be the possibility to choose to print only in certain colors.
Notice that this option might not be available for your printer. You should also have the possibility to configure these options from the support software for your printer.
