Both destinations are served by Nagpur (NAG). Since there's no flight route between them, the best way to travel is by road.
Yavatmal
Fly to Nagpur (NAG), then travel by road to Yavatmal. Taxis, buses, and private cabs are available from the airport.
Nagpur
Fly to Dr. Babasaheb Ambedkar International Airport (NAG), then travel by road to Nagpur. Local transport options include taxis, auto-rickshaws, and state buses.