The summits of Bearpen and Vly are both state owned now. The state also owns a wide strip of land than connects the two summits, and that includes the access routes from Halcott Mt Road. As Jay mentioned you can follow the state land boundary to Vly.
As you approach the summit of Bearpen you will likely see a few private posted signs on the north side where there are some cut views, but don't bother with them. A much better view to the north exists at a clearing on state land near the summit. It is the top of a wide old road / ATV track from Ski Run Road. You might a find a slightly higher spot off in the trees to the left/south, but many hikers count the clearing as the summit. You should be able to see Huntersfield Mt, the white painted Pratt Rocks (these will appear very small), and the Schoharie Reservoir to the north.
If you have time and want more views on Bearpen: Along the ridge, past where the wide road descends, you should see a narrow and a bit overgrown path that follows the top of the ridge (somewhat WNW). This will lead to another north view, and then eventually at the end of the ridge top to some west and northwest views. There you can see the Plattekill Ski center, and many other 3000+' mountains, the closest is Roundtop Mt. Return the same way you came.