Hi Sky
If you've not been to 12 Apostles before, you're perhaps better starting off at Dick Hudson's on the south side of the moor, at High Eldwick. On t'other side of the road from the pub is the path onto the moor. Just walk up here and stick to the single fottpath for 30 minutes (no turn-offs anywhere) and you'll get to it. But if you want to start from the Ilkley side, you're probably best going from White Wells. Go up past the building, up the steps of the cliffs, and once you're at the top (where paths go left, right and straight on) take the footpath which goes straight into the moors. Just follow it and you'll get there.
The Dick Hudson's pub starting point is probably better though. Slightly less tourists that way!
Good luck - Paulus