Drive along Smoky Mountain Road. According to The American Southwest, a tour guide for the area, Smoky Mountain Road allows access to Warm Creek Bay from the west.
Take "rec. road 231" off of Highway 89 from the west. "After 10 miles there is a side track (rec. road 231) along Crosby Canyon toward Warm Creek Bay - the only place along the Smoky Mountain Road where the lake shore is easily reached."
Follow road 231 as it "bends north to cross Warm Creek." Smoky Mountain Road continues north, heading from Kaiparowits Plateau, toward Escalante.