The duo are among eight men and seven women to be selected for the event in Sofia from April 8-11.
The Euros provide a first significant opportunity for athletes to gauge their form and fitness ahead of the delayed 2020 Tokyo Olympics and the World Championships in October.
Reigning world champion Sinden, 22, from Stainforth, is chasing a first European title after collecting bronze three years ago.
Yarrow, 20, from Dunscroft, will defend the gold medal he won in the -58kg category at the European Championships in Dublin in 2019.
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Double Olympic gold medallist Jade Jones is included in the squad but Rio Olympic silver medallist Lutalo Muhammad is unavailable for selection due to injury.
“We have a great blend of some of the most experienced and best fighters on the planet with some new, developing and exciting young talent,” said GB performance director Gary Hall.
“This is the biggest event of 2021 so far but we have a unique year ahead with the Olympic Games and World Championships.
“However, this event carries significant ranking points so athletes and staff are focused on winning as much as possible in terms of silverware but also to accumulate as many points as possible.”