Bees tend to be pretty fat little insects. They tend to be hairy, and if the insect you see is hairy, it’s definitely a bee and not a wasp. Honey bees have yellow and black stripes. Other bees can have a variety of colors, from straight black to straight yellow, with some blue and green varieties, too.
Wasps are thinner insects, especially at their waist, which is pinched. They are hairless. They come in many colors, though the most common stinging wasps (yellowjackets and paper wasps) are also yellow and black.
