Yes, we did this last year:
down the long straight road off the moor towards Skipton centre, after the 1st mini rbout take a right (this turns into a narrow one way lane and misses out the town centre) come out at the castle wall, take a right, pass Skipton BS head office, turn left to Embsay, turn left along brackenley lane, turn right onto B6265, next left onto lane, right onto Bridleway over Flasby Fell to Flasby, right to Hetton, follow BWs to bottom of Rystone Moor. This route misses out most of the busy road bits, but adds a reasonable amount of time.
As far as I recall Flasby Fell was quite a good ride, but I suspect the weather had been good at that time, I walked it over the winter and remember thinking it was quite muddy.