In the past I’ve just crept up to the nest with a spade, twatted it flat, and legged it. Obviously you don’t go back to the scene for a few hours and it only works if the nest is out in the open (hanging from the roof of a shed in my example).
I also got rid of one by filling the barrel of my potato canon with water, pumping it up to 100psi, and then firing it at point blank range. No wasps or nest left after that!
My mum used to get ride of them from our garage when I was little by putting on her coat and marigolds and just picking it up and throwing it in a bin bag. Double hard.
The stings don’t hurt that much anyway.