FYSA, the previous link is now dead. Here's an updated link:
https://www3.dac.army.mil/AV/yellow_book.htm
In case this dies again, you can find it on DAU by searching for "munitions". Then navigate through: Munitions and Explosives Safety > Topics > A and E Resources - Tools. There is a "Yellow Book" file with links pointing to the current version.
Edit: Resurrected this because it pops up on Google when you search for Yellow Book and DODICs.