Like mentioned before these are organic sitelinks. They're generated automatically (as long as you have a functioning sitemap) by Google's algorithm when they feel there's additional content (beyond the main page that's returned) that would help the user find what they're looking for (here's the Google support article on it).
In your websites Webmaster Tools you can demote pages (this tells Google that you don't want that page to show as a sitelink) this doesn't last forever and isn't a sure way to control how your sitelink look.
Here's an additional article that gives you pretty clear steps to what I explained above (link).
I believe Yoast Plugin helps you create an XML sitemap so in a way, yes, Yoast Plugin can help you create sitelinks but it won't give you "complete control" at what those links look like.