That route you've linked is a good one (though it doesn't start in Stainforth!) (and more techy in small sections than a lot of stuff in the Dales), and if you're lucky, you'll be able to get on it before sections of it bog out for the winter.
The only bit I'd not bother with is the the bit which heads up the side of Gragareth above Kingsdale - a fair bit of indifferent climbing rewarded with a rubbish descent. The landowner has even blocked one of the gates with huge rocks and barbed wire, just to make it even more appealing.
The descents to Dent and the one off the shoulder of Whernside towards Ribblehead are the highlights.
A shorter alternative is to do the section of that route over to Ribblehead, climb up to Cam Head via the Ribble Way? on the opposite side of the valley - the track has been 'improved' so it's a longish but easy climb now, then take the Pennine Bridleway down to Newby Head, on from there and descend via Arten Gill into Dentdale again.
Loads more further afield. Lakes is not out of the question from there.