In reply to akawd40:
Top rope wherever you like. There's probably in the region of 40 tors with recorded routes for you to try. The more popular spots already mentioned. Alternatively, a lot of the shorter routes at places like Hound Tor can be highballed safely with a few pads.
Javu is a good resource if you don't have the guide.
No sport climbing on the moor, head to the South Hams for that.