We just had a week in Littondale which is adjacent to Malham. Here is a thread with some routes.
Its quite exposed, very steep with pushing in places but there are some lovely descents and fantastic scenery in general.
Some of it was better than other bits and I did not get to do everything I had wanted.
Liked the descent opposite to Pen-y-gent house farm to Littondale - did it with my son so its quite easy but fun.
Arncliffe, Park Scar was a hard climb but fun on the way down.
Missed doing Kettlewell, Cam Head, Starbottom but drove past and it looked good. Could be linked in with Arncliffe run.
Best descent for me was Horse Head to Halton Gill (at the top end of Littondale). You should definitely try to do this. We approached it from Langstrothdale and its basically a push up. Did it as part of a loop recommended by ianv in the thread I've linked to (but did it the other way around i.e. Halton Gill, Foxup Moor, Horton in Ribblesdale, etc. Langstrothdale is very pretty.
Did another route around Malham and came down Cowside Beck to Arncliffe. It was less rocky here and a bit soft so would probably not repeat. I preferred the steeper rockier stuff.
Have a good weekend