This task is called instance segmentation and is an active research topic. Mask-RCNN is relatively old these days, but still might be the most popular approach.

This task is called instance segmentation and is an active research topic. Mask-RCNN is relatively old these days, but still might be the most popular approach. There also happens to be a few approaches for the task taking inspiration in methodology from YOLO, e.g. YOLACT (which clearly also pays homage in name).