I know little about Cantonese (for now), but please advise me if I erred in conjecturing that IPA is more precise and helpful than Yale or Jyutping Romanisations.
You might try the 漢語多功能字庫, with traditional Chinese, English interface.
On the top right corner, you can choose the scheme: IPA (number) & IPA(letter).
Have fun. :)
The English Wiktionary has IPA for Cantonese along with other commonly-used romanization schemes (Jyutping, Yale and Cantonese Pinyin). For example, for the entry on 朋友, under "Pronunciation" in the Chinese section, you can click [Expand] to see the IPA /pʰɐŋ²¹ jɐu̯¹³/. There's also IPA for other topolects, like Mandarin (/pʰɤŋ³⁵ i̯oʊ̯³/ → /pʰɤŋ³⁵ i̯oʊ̯³/). (Note: There may be a bug with the audio that covers the IPA.)