On the south side of the utility road at the bottom of Pueblo Canyon, watch for a brown carsonite signpost with a trail heading uphill. The trail turns constantly as it traverses up the side of the canyon, weaving in and out of small gulleys. The trail becomes more level but continues to wind back and forth before finally dropping back down to the bottom of Pueblo Canyon. You'll probably have to hike across the usually dry streambed to get back to the utility road on the other side.
You won't actually see tent rocks from the trail, but once back on the utility road heading uphill there are several along with hoodoos. Tent Rocks of Pueblo Canyon