Taft Point and Sentinel Dome share the same trailhead - an embarrassment of riches, as trailheads go, although wandering within olfactory range of the trailhead pit toilet will keep things from going to your head over much. Take the left trail for Taft Point or the right one for Sentinel Dome. A section of the Pohono Trail connects the two so you can visit both on a single hike with only a modicum of backtracking.
Those of you not on tiny-screened mobile devices can click on the map above to pop up a larger, less squint-inducing version. Otherwise, here's a bigger copy you can access directly.