I believe with the contorted shape of the succulent leaves that the plant is a Hoya carnosa commonly called Hindu Rope. The cascading habit with its close folded leaves are the reason for "rope" in the common name.

This plant needs a drying period between waterings and could be the cause for the yellow leaves. If you are keeping the soil moist let it dry before you water it again. By keeping it towards the dry side the plant should recover from the yellow leaves. Don't be alarmed if some of the leaves fall off. It will take a week or two before the damage is reversed.

Good luck and please keep me posted.