I've handled plenty of wasps and hornets, and I haven't ever been stung. (I've been bitten by a spider for trying to free one once though)
Hornets are usually a little calmer than wasps and are easier to handle, which may be due to their upgraded exoskeletal armour. Anyway, killing wasps and hornets does more harm to the environment than good, as they have similar functions to bees.
They tend to only sting you if someone has agitated them and they happen to land on you, or if you flail your arms around and scream like an idiot, which I've seen happen to people many times in the park.
Don't do anything stupid. Let it out of the window, you've got better things to do.
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