Not sure what you mean by “extension wallet” however, if you mean that you have a personal wallet external to Binance holding ADA (BEP20) tokens, you can “deposit” these tokens at Binance (be sure to use the BSC network to make the deposit only in this specific case) and then “withdraw” the resulting ADA from Binance to Yoroi being sure to use the Cardano network.
Your original deposit of BEP20 tokens to Binance requires a little BNB in your personal wallet (ie. the wallet you will be using in step 1, above) to pay for “gas” on the BSC (Binance Smart Chain) network .