The Permaculture Gardeners are a small group of folks who get together occasionally to share their experiences in gardening by following permaculture principles. Recently one of the things they discussed was wasps and how beneficial they are in helping to control garden pests.
Providing habitat is one way to attract these garden helpers to your area. 4" PVC caps can be secured to a post near the garden with the open side of the cap pointed down to provide a sheltered location for wasp nests. Another option used successfully by one of the gardeners is to hang an empty 2 lb. plastic coffee can upside down on a 4 to 6 foot stake near the garden. The wasps like a sheltered sunny location and seem to find the coffee can fills the bill.
If you will leave the wasps alone, they will leave you alone. They prey and feed on soft insects such as caterpillars, flies, and beetle larvae. Why don't you give it a try?