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.
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.)
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. :)