Parasitic or Parasitoid Wasps
Such wasps are usually called parasitic wasps but as many of them kill their hosts, they can be called parasitoid wasps. Regardless of what you call them, these wasps usually don't sting. They are very useful in any garden as they control caterpillar numbers so if you grow anything from the family Brassicaceae they are particularly useful.
You can attract parasitic wasps by companion planting with caraway, lavender and zinnias.