Flagstaff Pulliam Airport (FLG) is the closest airport to these three destinations with commercial flights. I was able to find round-trip flights from SFO for less than $ 200 in AA.
From the airport, there is little difference in driving distance if you rearrange the destinations, provided that Sedona is the first or last, but if it goes in the order you indicated, Sedona, Grand Canyon and Antelope Canyon is perfectly reasonable and will give you a A lot of scenic driving between the points.
You can place multiple destinations on Google Maps and play by rearranging them, if you wish, but you probably won't find anything shorter.
Of course, while you can drive between all these points in one day, you will probably want to spend more than a few minutes on each one! Keep this in mind when planning your trip.