Local characterization of the properties and performances of miniaturized magnetic devices is a prerequisite for advancing present on-chip spintronic technologies. Utilizing nitrogen-vacancy (NV) centers in diamond, here we report quantum sensing of spin wave modes and magnetic stray field environment of patterned micrometer-scale Y3Fe5O12 (YIG) disks at the submicrometer length scale. Taking advantage of wide-field magnetometry techniques using NV ensembles, we map the spatially dependent NV electron spin resonances and Rabi oscillations in response to local variations of the stray fields emanating from a proximal YIG pattern. Our experimental data are in excellent agreement with theoretical predictions and micromagnetic simulation results, highlighting the significant opportunities offered by NV centers for probing the local magnetic properties of functional solid-state devices. The presented quantum sensing strategy may also find applications in the development of next-generation spintronic circuits with improved scalability and density.