There are a number of different ones on the CTC site, but you may have to join to access them. The one we did a couple of summers back was Workington(van hire drop off, should have been Whitehaven), Wasdale, Sedburgh (Kirkby Stephen YHA shut), Kettlewell via Hawes, Pateley Bridge(emergency stop in foul weather, we camped up & waited for the rain to stop), Osmotherley, Robin Hood's Bay, Scarborough.
Beware there are a number of 1 in 3 slogs on this route, notably Hardknott & Wrynose and a couple of unsigned ones on the N York Moors near the end. Fine if you travel light but a pig with camping gear.