Lafayette trailed 10-7 before Andrew Shoop's 10-yard touchdown pass to Ross gave Lafayette its first lead of the game, 14-10, with 3:58 left in the third quarter.
Ross tallied eight receptions for 105 yards. Shoop, who posted 243 yards and two touchdowns on 20 of 33 passing, moved into eighth place all-time for career passing yards and passing touchdowns at Lafayette.
Yale (1-4) attempted to rally, but after the Bulldogs turned the ball over on downs, Scheuerman capped off a 7-play, 78-yard Lafayette drive with a 2-yard touchdown run.
The Leopards, who picked off Yale's Eric Williams four times, have intercepted 15 through six games.
Tyler Varga led Yale with 100 yards rushing.
Lafayette improved to 4-2, equaling its win total from 2011.
Will Jim Harbaugh roll Toomer's Corner when he brings Michigan down South for spring break? And might Bret Bielema go WWE with the SEC response?
The Buckeyes really had only one pressing area of need -- the secondary -- and they addressed it with another solid recruiting class.
Even though the Cowboys signed two running backs in the Class of 2016, that position remains the biggest concern for Oklahoma State.
Texas Tech QB signee Jett Duffey and Baylor WR signee Devin Duvernay drew the most praise, but there is talent all across the conference.
After signing three ESPN 300 recruits in the 2016 class, including two 'monster' receivers, Pitt has the potential to win a division title.
USC, UCLA, Arizona, Arizona State, Oregon, Oregon State, Utah and Cal are among those with high-impact early enrollees.