You didn't state your intention for the Vermillion Cliffs area. However, it's not something you can easily see. You need to do strenuous hikes to get the the beautiful areas you might have seen picture of such as 'The Wave' hike (which we've done). It takes a lot of persistence and advance planning to get a spot in the lottery to hike The Wave. If you take 89A from Zion to Jacob Lake to Grand Canyon North Rim and on to the South Rim it goes through some beautiful vista areas of the red rock, especially if the lighting is good, but you just can't drive within the Vermillion Cliffs. Have a good trip!
Here's a site for the Cliffs:
Vermillion CliffsIf you want to do The Wave you will need to register for the lottery in Kanab, Utah at the BLM office.