Depends on your definition of "Best". If you want to go out the West entrance, US-20 will take you to I-15 which you can take all the way to Provo.
When we stayed at Fishing Bridge a few years ago, we left Yellowstone through the South entrance and stopped in Grand Teton and Jackson. At Hoback Junction, we took US-89 South to I-15 near Brigham City. There are some pretty good grades in the Bear Lake, ID area.