Yoda speaks in Object-Subject-Verb order, while English is in Subject-Object-Verb order.

{Frightened}, {you} {are}.
{object}, {subject} {verb}.
–>
{You} {are} {frightened}.
{Subject} {verb} {object}.

or

{Teach him}, {I} {cannot}
{O}, {S} {V}
–>
{I} {cannot} {teach him}
{S} {V} {O}

It works with more complex sentences, as well.

{When 900 years old you are, look as good} {you} {will not}
{Object Phrase}, {Subject} {Verb}.

The Object Phrase can be further broken down:

{[when 900 years old you are], [look as good]}
{[Modifying Clause], [Direct Object]}

The modifying clause can further be broken down

[when (900 years old) (you) (are)]
[connector (secondary object) (secondary subject) (Secondary verb)].

To convert back to English, we change it to O-S-V order, and move the modifying clause after the direct object:

{You} {will not} {[look as good] [when (you) (are) (900 years old)]}

Now to convert the phrase “We try to speak like Yoda.” from standard English to Yoda-English:

{We} {try} {to speak like Yoda}
{Subject} {Verb} {Object Phrase}

The object phrase contains a verb and an object:
{[to speak] [like Yoda]}.

So, we need to change the main sequence from Subject-Verb-ObjectPhrase to ObjectPhrase-Subject-Verb. And we need to change the Object Phrase itself from Verb-Object to Object-Verb.

{We} {try} {[to speak] [like Yoda]}.
{[Like Yoda], [to speak]} {we} {try}.

Like Yoda, to speak we try.