$ go list -mod=mod -m -versions gopkg.in/yaml.v2
gopkg.in/yaml.v2 v2.0.0 v2.1.0 v2.1.1 v2.2.0 v2.2.1 v2.2.2 v2.2.3 v2.2.4 v2.2.5 v2.2.6 v2.2.7 v2.2.8 v2.3.0
The -mod=mod was needed because I had a local vendor directory maintained by go mod vendor. Remove -mod=mod if you do not have a vendor directory.
$ go list -mod=mod -m -versions gopkg.in/yaml.v2 | sed 's/ v/\nv/g'
gopkg.in/yaml.v2
v2.0.0
v2.1.0
v2.1.1
v2.2.0
v2.2.1
v2.2.2
v2.2.3
v2.2.4
v2.2.5
v2.2.6
v2.2.7
v2.2.8
v2.3.0