1) Bell Rock Trailhead Parking
If you are staying in VOC, this is just down the street. You have probably been here already during the day. Just park your car, lay down, and look up.
2) Yavapai Vista Point Parking
This is just across from the Bell Rock parking. If you are coming from VOC, you cannot make a left turn into the parking area so you will have to drive all the way down 179 and turn around at a roundabout. This place is at a little higher elevation than Bell Rock parking so you will get a little better view of the sky in that direction.
3) Munds Wagon Trail Parking
If you are staying near Uptown Sedona, this place is just a few minutes drive. It is up the road on Schnebly Hill Rd and the parking is right before it turns into a dirt road. Do not drive on the dirt road without HCV. Just a side note.
4) Midgley Bridge Parking
This is located a few miles north of Sedona on 89A. The bridge and mountains behind create a cool composition if you are taking some Milky Way photos.
5) Fay Canyon Trailhead Parking
The skies are way darker here than places closer to town. However, it is a little drive from 89A. There are a few other parking areas around so you can pick any of them to stargaze. You may see some people participating in a stargazing tour.
6) Secret Slick Rock Parking
This used to be a hiking trailhead that not many people know about. But not the case anymore. If you want to hike in about 10min to Secret Slick Rock. You will be standing on a rock in a wide open area with Cathedral Rock right in front of you.
7) Cathedral Rock Trailhead Parking
This is one of the busiest parking spots in Sedona during the day. Not the case at night. You may see a car here and there and people hiking at night. But you won't have trouble finding a parking spot.