The 29-year-old targetman joins the club from Maidstone United.
He arrives on the back of a difficult season in the National League where he only found the net once.
The beaten play-off semi-finalists forward line is coming together with Chelmsford’s Kudus Oyenuga on board. Concord attacker Ben Greenhalgh will also play for the club next season.
Darts’ new managers Jamie Coyle and Adam Flanagan believes there is more to Sam-Yorke’s game than just goals.
Coyle said: "We are delighted that Delano has agreed to sign from Maidstone United.
"He has both Football League and National League experience and adds another dimension to our front line with his physicality and pace."
Sam-Yorke has also enjoyed spells with Woking, Cambridge United, Lincoln and Forest Green Rovers.