Here is an overview of Yes No questions in a wide variety of tenses:
Present Simple
Do / Does + S + Verb? - (Do you like ice cream?)
Yes, I do.
No, I don't.
Yes, he / she / it does.
No, he / she / it doesn't.
Yes, we / you / they do.
No, we / you / they don't.
Present Continuous
Am / Is / Are + S + Verb + ing? - (Are they studying English?)
Yes, I am.
No, I'm not.
Yes, he / she / it is.
No, he / she / it isn't.
Yes, we / you / they are.
No, we / you / they aren't.
Present Perfect
Have / Has + S + Past Participle? - (Has she lived here long?)
Yes, I have.
No, I haven't.
Yes, he / she / it has.
No, he / she / it hasn't.
Yes, we / you / they have.
No, we / you / they haven't.
Past Simple
Did + S + Verb? - (Did she stay in New York?)
Yes, I / you / he / she / it / we / you /they did.
No, I I / you / he / she / it / we / you /they didn't.
Past Continuous
Was / Were + S + Verb + ing? - (Were they working at three in the afternoon?)
Yes, I was.
No, I wasn't.
Yes, he / she / it was.
No, he / she / it wasn't.
Yes, we / you / they were.
No, we / you / they weren't.
Future Simple
Will + S + Verb? - (Will you come to the party?)
Yes, I / you / he / she / it / we / you /they will.
No, I I / you / he / she / it / we / you /they won't.
Future with Going to
Am / Is / Are + S + going to + Verb? - (Is he going to attend the meeting?)
Yes, I am.
No, I'm not.
Yes, he / she / it is.
No, he / she / it isn't.
Yes, we / you / they are.
No, we / you / they aren't.