I'm glad you are making some time for what some folks call the mini Grand Canyon. Most of the views are easily seen from pull offs just right on the main road and won't take you much time. I think it's easiest to see them from the Fruita entrance - as you can see from the link above that is where the majority of the views are. One of my favorites isn't even listed I believe. It's a small walk from the back door of the visitor's center on the Monument. You can look all the way down the canyons - amazing.
If you don't have enough time to do the whole drive, I suggest you begin on the Fruita side, do some of the views and turn back so you can get onto I-70 or US 50 easily and be on your way.