I am aware of Vedanta yoga, and I use some of its practices. Vedanta includes spiritual theology and a number of types of yoga. Actual practices today are mostly built on later interpetations of the Vedas. Philosophically, I find Advaitist Vedanta of great value, and the teachings of Ramana Maharshi are the clearest available in English.
All yoga practices have their roots in the Vedanta. In addition to philosophy (with self-inquiry), one can also practice devotion (bhakti); the path of service, like Gandhi (karma yoga); and physical yoga (asanas, or postures) with breathing (pranayama).
The purifications of yogic practice are beneficial to physical health, and also support concentration in prayer and meditation. That works whether the prayer is Hindu, Buddhist, Christian, or any other type. The benefits are based more on physiological facts than on religious beliefs.