We live in Skipton, well 1 mile outside. As previously said, great place, perfect riding location, good road connections although on the increasingly snowy days we are having may make the commute to Hebden interesting. Road better from Keighley to HB as it's a bus route, Trawden road would be very dicey yet scenic. Bridleway from Trawden to HB is wonderful if that's a plan.
If you have kids tho' beware of the Skipton school system, it's 11+ area and only 28% of the local kids get places on passing the exam making it populated by out-of-area kids so not a local school. There is talk, and some early plans I believe, to open reinstate the railway from Skipton to East Lancs.
I personally wouldn't live in Nelson, Colne or Keighley altho' you get more for your money property wise.