Since you mentioned Yosemite (probably my favorite National Park) you might check this link http://www.yosemitepark.com/the-ahwahnee.aspx to the Ahwahnee Hotel which is located inside the park in a beautiful location. I've only done a walk through as it is too pricey for me.
I think several western parks have very nice lodging inside the park and you can check through the respective web sites. I recall Grand Teton having resort type lodging close by with great views.
Fred