Don't.

Leave them be as they are beneficial predatory insects.
All members will die late in the year.
Only the newly mated queens will survive, but they will do so elsewhere.

For a contrary view, if you feel they ought to die, spray the nest with a hose, perhaps with a sweeper nozzle. Use a car or house door for protection as they can get as mad as a wet hornet.

Sorry.

It will be a slaughter, though, yet other critters won't be affected. The hose is cheaper than that spray and the mist won't be breathed in.

Just do it at night when the bumble bees are safe at home. Paper wasps are usually quite docile, but they are slow and clumsy, and I seem to get stung by them because they slowly fly around and accidentally make contact with me, and of course they sting then.

Joe

I would definitely leave the nest if its not in a bothersome place. They are beneficial insects and will take care of caterpillars and other pests. We have had paper wasps hovering around our Brassicas the past week or two....makes me glad to know I won't have any caterpillars in my broccoli!

I left the nest alone. For an unknown reason, they abandoned the nest.