Drive west up I-70 from the Denver metro area and approximately 2.9 miles past the Bakerfield exit, turn off the interstate at Exit 218 and park at the Herman Gulch trailhead parking area on the north side of the highway. On weekends, this popular trailhead can be very crowded and a parking spot may come at a premium. Plan on early arrival. The two trails share a common start. Watch for the turnoff to Herman Gulch after about 1500 feet.
No designated camping is close by. You may be able to get away with sleeping in your vehicle in the parking lot if you can tolerate I-70 traffic roaring by all night. There are private residences on a road above the parking lot. If you really need a place to spend the night, drive back to the Bakerfield exit and you can locate a few spots near some designated parking on the south side of the highway.
The other possibility is to backpack into the area around Herman Lake where you may be able to find some good camp spots on the tundra near the lake. Please respect Forest Service rules regarding how close to the lake you may camp.