How to cross-compile an application with library dependencies for Yocto Linux?

I wrote an application on my laptop (Ubuntu 14.04) that depends on GStreamer and would like to cross-compile it for my Yocto Linux target (iMX6S-Wandboard). How do I cross-compile the application so that it runs on the target board and is able to use the GStreamer libraries?

Thank you,

Toan