For each given stop light, speed limit, and vehicle configuration, there is a rubicon that is crossed where it is impossible to stop before entering the intersection. Set up your camera and creep the yellow light time down past this limit and profits just start rolling in.

You should also glance in your rear-view mirror to verify that the car behind you follows the same rule before you commit to stopping. Simple rules about traffic safety usually need a little tweaking IRL...

No. Yellow tells you to go faster.