Wasps are beneficials. They eat other insects, including many species that otherwise eat crops. They also pollinate, although for most crops not as well as bees.
Squashing one may also cause it to release pheromones that cause others to attack; while, very often, if they're not attacked they don't sting. If you disturb a nest, then yes, they will sting; and some species will sting if you just come too close to a nest. But otherwise if you leave them alone most wasps will leave you alone. You're way to big for them to eat; why should they waste time and energy stinging you?
Of course, if they're inside falling into your clothes, you could easily pinch them by accident, and get stung for that.
So yes, I will escort them gently outside the house. But if you really can't stand to do that, try a vacuum cleaner. Extension nozzles are available if you need to get them off the ceiling.
If they've built a nest outside somewhere that you can't help passing right next to, then if the nest is attached to something not damaged by water, try a hard spray of water from a hose to knock the nest down; you may need to repeat this several times. They don't seem to see this as an attack -- I suppose they think it's a natural disaster, not something caused by the person behind the hose -- and in any case don't fly well when soaking wet; I've never been stung while doing this; but just in case probably an allergic person shouldn't try it.
