Ninja is the only officially supported build system for V8.
I don't know the requirements of the yocto build system. If all you need is a wrapper, it should be very straightforward to create a two-liner Makefile that invokes the GN/ninja based build.
If you need to replace GN/ninja entirely, you'll have to create a complete Makefile yourself. I'm not aware of any existing tool to do this directly; however the Node.js project maintains GYP files for V8, and one can generate Makefiles from those, so that path might be worth looking into. It's also certainly possible to create a tool yourself that generates Makefiles from GN files, but that's probably quite a bit of work.