The 28-year-old found the net for the first time in over a year to help the Robins end their seven-match winless streak.
Yates told reporters: "I thought Ashley provided that spark we've been looking for. He knocked in three or four great crosses that we haven't been putting in this season and then got the goal.
"He hasn't had the best first half to the season, but if we can get him playing like that we know we have got a good player on our hands."
Vincent rejoined Cheltenham in July, having left the Gloucestershire club in the summer of 2009 following five seasons at Whaddon Road.