Sky sources understand a central Manchester hospital is waiting to carry out a medical on Mata, with Jose Mourinho confirming his departure is imminent.
And Yorke, who scored 64 goals for United, admitted that Spain international Mata would be a signing who would be embraced by all.
"It's the kind of thing that we expected, we've always been linked to top players," Yorke told Sky Sports.
"You just look at what Mata's done with Chelsea over the years and he's the type of player than United will welcome, the players will embrace and the fans will obviously love.
"You saw what Van Persie has done and hopefully Mata will come in and make that same impact.
"It will certainly lift the players - the season hasn't been that great for us but we still have a few games yet and I'm sure the players will be eyeing up trying to get into a Champion League place."