Sorry...didn't see this when it was posted. Yes, the yoke just taps off the shaft. Sometimes they can be a bit stubborn, esp if there is corrosion in the splines.
That u joint assembly has been on backorder for a while...like a year. It's used on several Hondas, so if you can find a used one at salvage, that might be the best bet. Someone also makes just the u joint itself, but it looks like your yokes are knackered.