If they’re legit like Google and Yahoo then yes, what USCDiver says. I’ve never had a problem uninstalling toolbars this way.
If you have some others that you can’t find in add/remove programs, then check out HijackThis which will reveal those buggers and help you remove them. I do believe you’ll find toolbars listed under BHOs - Browser Helper Objects.
Note - do not use HJT first. Use add/remove programs to remove everything properly. Then use HJT as a last resort.
Nothing new to say; just another voice to confirm what the last two posters have said. Any “legitimate” application will remove just fine with Add/Remove Programs, and for just about anything else, Hijack This will probably do the job just fine.