There is a reasonable route approximately like this which I've mapped from and to Burley station. This is a bit approx as I don't think all the tracks are shown in the software but hopefully you can work it out with an OS map (assuming people still have those !). Technically the bit between Hag Farm and Menston is not Bridleway but there is only really the bit past the cottage where there would be a problem and you can walk that - it is about 50 yards. The tracks up on the top go from beyond the pub on the Chevin (Royalty ?) and the Best Western hotel. There are a few other tracks or quiet roads in this neck of the woods to do other loops also. The descent back to Menston is quite nice - it is best ridden this way round, i.e. up the road down the track.
http://www.mapmyrun....128956067242500
The bridleway which comes down from Hangingstone Rd (between Woodhead and cow and calf) above the Nature reserve and crosses the railway line is pleasant enough in descent but not much in the way of good routes up other than road.
I'm not sure what the access rule is technically on the moors. I think some areas of Ilkley are tolerated, they certainly get used and there are some good tracks which it is sensible for bikes to be on (i.e. good enougg surface to not get too churned up and not many walkers). If you look on JD cycles web site they used to have some good route info in their forum, or if you asked them they are very helpful.
Hope this helps.