Staveley – up road to Park House onto Staveley Head Fell – Green Quarter Fell, Green Quarter (Kentmere) – up from Kentmere Hall then when you drop to a gate with a beck in front of you, turn left and down to Croft Head via the Three Rivers descent, road back to Staveley. Apart from the first climb to Park House and the last couple of km it’s virtually all off-road.
You can extend the above loop by taking the BW from just after Park House across the moor and down in to Longsleddale, up to Sadgill then there’s a steep climb back up and over to Kentmere.
Another loop would be Staveley, lanes and BW to High Borrans, Dubbs reservoir to the track up Garburn Pass, over this and down to Kentmere Hall, then the same finish as above.
The forum currently won’t let you add multiple links so here’s the top of The Three Rivers descent.
IME If you don’t know the area then studying a map is preferable to blindly following a GPX where you don’t have a feel for the lie of the land.