My choices would be the classic Malham – Janets Foss – Goredale – Malham Tarn – Cove – Malham route as detailed above. The only thing of note is that getting out of the back of Goredale requires a short scramble alongside the waterfall which can be a bit greasy at times.
Ingleborough from Austwick or Clapham is my favourite of the 3 Peaks – out via Crummackdale and Thieves Moss, back via Trow Gill and Ingleborough Cave for a lolly.
Another good short one is up Conistone Dib from Conistone, then along the Dales Way towards Grassington, and down through Grass Wood (find the bronze age settlement for extra points) to return.
Trollers Gill is also a lovely little walk, as you can include the pub in Appletreewick which has top food in the loop.
http://www.craven-cruckbarn.co.uk/