Yoga is recognized as a complementary practice that improves physical, mental, and spiritual health in survivors of cancer. The present study assessed associations between a holistic approach and physical function for 30 survivors of cancer in south Texas. Cancer survivors (86% female) of diverse backgrounds (62% underrepresented minorities) performed a battery of physical function tests, including a 6-minute walk test, to assess cardiorespiratory function, isometric shoulder and elbow-flexor strength, dominant-arm grip strength, dominant-arm shoulder range of motion via inclinometer, sit-and-reach test to assess trunk and lower-extremity flexibility, and a 30-second sit-to-stand test to assess lower-extremity endurance. Participants were reassessed 16 weeks after starting the intervention. The intervention involved a 75-minute live-streamed therapeutic yoga program, including meditation, three times a week and daily psychosocial support text messaging through a telehealth platform to increase efficacy in promoting health-enhancing behaviors. Repeated-measures analysis of variance was used to assess changes in physical performance between sessions. Statistically significant improvements were observed for the 6-minute walk test (+35.68 m; p = 0.020), elbow-flexor strength (+7.44 kg; p < 0.001), dominant-hand grip strength (+3.19 kg; p < 0.004), sit-and-reach test (+5.25 cm; p = 0.010), and dominant-arm shoulder range of motion in flexion (+11.18 degrees, p = 0.012) and abduction (+17.06 degrees, p = 0.036). A 16-week live-streamed therapeutic yoga intervention performed three times a week, coupled with daily psychosocial support messaging, was associated with improved cardiorespiratory endurance by increasing the distance walked in 6 minutes, improving upper-extremity strength and range of motion, and increasing the flexibility of back and hamstring muscles.