Is the yellowing on the inside or outside?
If its on the outside, there are a couple different methods you can use. I've seen kits that sell for around $20 in parts stores, but I've never used one. When I cleaned my Explorer's lights, I used Turtle Wax Rubbing Compound and applied it by hand with a terry towel. I then used Turtle Wax Polishing Compound to bring back the shine. Mine weren't severely yellowed, so your mileage may vary. You can also try wet sanding with 1500 grit sand paper and then move to 2000 grit. You may need to go beyond 2000 to get the results you desire. Finish it up with some polishing compound, not rubbing compound, and that should do the trick if they're really bad. The key is to be patient.