I think your hotel could arrange this. I know the Ein Gedi kibbutz hotel said they could arrange a taxi. (We did not need this since we had a car, but i overheard them discuss this with another guest). You won't find taxis just roaming around looking for fares down there -- as you would in a city -- so you will want to make arrangements.
I will just add to that helpful response -- you definitely need to arrange a taxi. While these are major tourist sites, they are in a barren and isolated desert area. Taxis don't just roam around.
The best way is to have a rental car or a driving guide, but check with where you are staying about how easily they can arrange taxi transport for you.
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