One way I learned by accident:
If you were heading towards Rt. 15 on Berkshire Valley, a couple hundred feet before Minnisink Rd on the left is a trail that cuts in and proceeds up a pretty gnarly climb (trail is not overly maintained). There are a bunch of split-offs and whatnot, but if you envision the map in your head and generally aim towards the left, at least one path will dump you out right on Howard Blvd sort of near the lake.