We present stellar yields calculated from detailed models of low and intermediate-mass asymptotic giant branch (AGB) stars. We evolve models with a range of mass from 1 to 6 M_⊙, and initial metallicities from solar to 1/200th of the solar metallicity. Each model was evolved from the zero age main sequence to near the end of the thermally pulsing (TP) AGB phase, and through all intermediate phases including the core He-flash for stars initially less massive than 2.5 M_⊙. For each mass and metallicity, we provide tables containing structural details of the stellar models during the TP-AGB phase, and tables of the stellar yields for 74 species from hydrogen through to sulfur, and for a small number of iron-group nuclei. All tables are available for download. Our results have many applications including use in population synthesis studies and the chemical evolution of galaxies and stellar systems, and for comparison to the composition of AGB and post-AGB stars and planetary nebulae.