Hiking Zion, Bryce and Grand Canyon Area

Hey everybody,
I am new and I first want to introduce myself.
I am a phd student from Germany. I love all kinds of outdoor sport. Activley I am hiking and I do rock climbing.

Now here is my question. Since I have not been hiking and backpacking in the US before I would like to know which maps you can recommend for the area of zion bryce and grand canyon.
As we (my girlfriend and me) got no permit for GC we plan a day trip. What is a good option?

Further what a good hikes for beginners - but we are in good condition ;)- arround Zion and bryce? Is it possible camp?

thanks a lot