Yang's approach is UBI: basically, give everyone monthly income with no strings attached and no means testing.
In both cases, the cost of the policies is offset by various forms of taxes.
Bernie's approach rests on the assumption that there are and will be enough jobs for everyone (if they have adequate access to the education, health care, and child care services they need), whereas Yang's is based on the assumption that there won't be.
In the long run, I figure that Yang is right (though we could also deal with the problem by transitioning to 30 or 20 hour work weeks), though Sanders' policy proposals better address the major problems we're dealing with right now.
Sanders doesn't AFAIK support a UBI, but on top of a slew of left-wing policies, his perspective is that you need a mass movement of people to build institutions that can challenge corporate power.
I'm not saying that'll work (or that it won't) but for the sake of it, that's his policy.
He also wishes to implement preferential voting.