From "An Illustrated Guide to Crosses on the North Yorkshire Moors" by Elizabeth Ogilvie and Audrey Sleightholme (1994 The Village Green Press):

"Malo Cross like Mauley Cross is named after the de Mauley family who resided at Mulgrave Castle. It stands at the foot of Whinny Nab on a branch of the Pannierman's Road which runs south west from Lilla Cross. on the head of the cross is the initial K with RE underneath- Sir Richard Egerton Kt."

It goes on to say that the cross was erected by Sir Richard Egerton in 1619.

The booklet came from the Tourist Info place in Helmsley a number of years ago - you might still be able to get a copy if you're interested. Malo Cross is on the front cover.