diff --git a/CHANGES.rst b/CHANGES.rst
index fcc97f598..a57e6ebcd 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -15,6 +15,8 @@ The ASDF Standard is at v1.6.0
 - Fix issue opening files that don't support ``fileno`` [#1557]
 - Allow Converters to defer conversion to other Converters
   by returning ``None`` in ``Converter.select_tag`` [#1561]
+- Convert numpy scalars to python types during yaml encoding
+  to handle NEP51 changes for numpy 2.0 [#1605]
 
 2.15.0 (2023-03-28)
 -------------------
diff --git a/asdf/_tests/test_yaml.py b/asdf/_tests/test_yaml.py
index 06f84a3fc..1faa015ef 100644
--- a/asdf/_tests/test_yaml.py
+++ b/asdf/_tests/test_yaml.py
@@ -287,4 +287,10 @@ def test_numpy_scalar(numpy_value, expected_value):
     yamlutil.dump_tree(tree, buffer, ctx)
     buffer.seek(0)
 
-    assert yamlutil.load_tree(buffer)["value"] == expected_value
+    loaded_value = yamlutil.load_tree(buffer)["value"]
+    if isinstance(numpy_value, np.floating):
+        abs_diff = abs(expected_value - loaded_value)
+        eps = np.finfo(numpy_value.dtype).eps
+        assert abs_diff < eps, abs_diff
+    else:
+        assert loaded_value == expected_value
diff --git a/asdf/yamlutil.py b/asdf/yamlutil.py
index e853b93d6..8b2252dd6 100644
--- a/asdf/yamlutil.py
+++ b/asdf/yamlutil.py
@@ -117,11 +117,12 @@ def represent_ordereddict(dumper, data):
 # ----------------------------------------------------------------------
 # Handle numpy scalars
 
+
 for scalar_type in util.iter_subclasses(np.floating):
-    AsdfDumper.add_representer(scalar_type, AsdfDumper.represent_float)
+    AsdfDumper.add_representer(scalar_type, lambda dumper, data: dumper.represent_float(float(data)))
 
 for scalar_type in util.iter_subclasses(np.integer):
-    AsdfDumper.add_representer(scalar_type, AsdfDumper.represent_int)
+    AsdfDumper.add_representer(scalar_type, lambda dumper, data: dumper.represent_int(int(data)))
 
 
 def represent_numpy_str(dumper, data):
diff --git a/requirements-dev.txt b/requirements-dev.txt
index b3b1ad72f..34a857c96 100644
--- a/requirements-dev.txt
+++ b/requirements-dev.txt
@@ -6,8 +6,9 @@ git+https://github.com/asdf-format/asdf-unit-schemas.git
 git+https://github.com/asdf-format/asdf-wcs-schemas
 git+https://github.com/astropy/astropy
 git+https://github.com/spacetelescope/gwcs
-git+https://github.com/yaml/pyyaml.git
+#git+https://github.com/yaml/pyyaml.git
 # jsonschema 4.18 contains incompatible changes: https://github.com/asdf-format/asdf/issues/1485
 #git+https://github.com/python-jsonschema/jsonschema
 
 numpy>=0.0.dev0
+scipy>=0.0.dev0