Aye, there's at least one Andy Corless perm that uses Barnard Castle as a control - and as Billy says, the route between the towns is obvious when you look at a map (which you'll have to).
Here it is,
Penrith-Stanhope-Barnard Castle-Hawes. I haven't ridden it, but I always assumed that between Barnard Castle and Hawes you'd have to go over Buttertubs and the Stang, rather than along the track over Sleightholme Moor to Bowes and Barnie, which would make it a bit short.
As an alternative, they're not strictly perms, but Nigel Hall has made his routes available on the VC167 website (with all the care and attention that he puts into his routesheets):
http://www.vc167.org.uk/index.php?option=com_simplelists&view=simplelist&category_id=23&Itemid=39I have thought about making some of these up into perms, but the two which you should look at are the J38 and Heavy Metal.
J38 would be the simplest - it passes through Barnie, and it's a great ride, for the scenery, the quiet roads, and for the nosh-up at Tebay Services. Out across the Eden Valley to Tebay, down to Kirkby Lonsdale, back through gorgeous Barbondale and Dentdale, dash along Wensleydale and past Richmond Castle, then a quick hoik up Gilling Bank to Aldbrough, and it'd be a fairly easy run back to Barnie along the Tees.
As a perm, it'd work with these controls (there's a pub in Aldbrough which you could use):
http://goo.gl/maps/84gvHYou wouldn't have to use Dent as a control, but you'd be mad not to go through there.
Heavy Metal would be much, much hillier, and harder to make into a standard perm (relatively easy if you use GPS), but great fun if you like hills. It'd show you more of the area, too, as it spends a lot of time up on my favourite roads, the high passes between the dales.
Or, if you want to plan a DIY, I can suggest many fine places to go.