good old fly spray, ant killer, proprietory wasp killer from a good garden center they all workas does creosote. patience is the key wait til dusk or very early in the morning and spray the nest with what you have then walk (run) away. respray the next day if there are any lingerers.
I do maybe 10 a year but only if they are in an area we are likely to disturb. we have loads of hedging and outbuildings. once we had an old diahatsu soft top which was left standing in the summer when we finally moved it it had a massive nest in the back seat probably the size of a 5 yr old child. we left it til the winter before we cleared that one out. Another occaision I was clearing some shrubs, after trimming the branches I was hauling them to the bonfire dangling the 10ft long branch over my shoulder when I suddenly heard a loud buzzing... looking round I saw a wasp nest melon sized attached to the branch.... that branch didn't travel much further that day. It was empty the next day