Yorke, who won the treble with United as a player, made 72 appearances for Trinidad and Tobago, scoring 19 goals, and was captain at their only World Cup in 2006.
"As a player, I experienced some incredible moments in a Trinidad and Tobago shirt. With this squad I hope that can continue as head coach," Yorke said.
His only managerial experience came at Macarthur FC, where he won the Australia Cup in 2022. Yorke also had a brief spell as assistant manager with Sunderland and was also assistant with Trinidad and Tobago in 2009.