Use sunset as your turnaround alarm.
There is no route to follow and no wrong turn, which is rare on public land and is the entire point. The park splits the goblins into three valleys: the first is flat, easy to see across, and packed with clusters of the stunted hoodoos, the second runs south into side canyons where the formations get taller, and the third sits more than a mile out from the observation point. The first valley alone will fill an afternoon for most families. Anything past the third valley needs GPS and real desert navigation.
No trail needed - wander a valley of goblins. Best kid terrain in the state.
Heat note: desert country - in summer start at dawn and carry more water than feels reasonable.
Water bottle, sunscreen, hat, snacks, comfortable shoes.
Make it a weekend: Fruita Campground (Camping, 35 mi) · Millsite Reservoir (Fishing, 45 mi) · Willow Flat Campground (Camping, 46 mi) · Singletree Campground (Camping, 48 mi)
More hikes nearby: Little Wild Horse & Bell Canyon (Hike, 6 mi) · Grand Wash (Hike, 34 mi) · Hickman Bridge (Hike, 34 mi) · Capitol Gorge & The Tanks (Hike, 35 mi)