If you look at that link in the first sentence of answer #1 it will give you all the information about times and transport options.
Are you thinking of changing from Kempinski? It is far and away the most expensive place in the region and people don't tend to use it as a base to go hiking in Slovenský raj, unless they have their own transport.
It is certainly easier from Poprad, however Poprad is a bit of a one-horse town, to say the least. If it is a clear day you get beautiful views of the Tatras, but if not it has very little going for it.
Štrbske pleso is very beautiful, and there are some good walking options - one that we did a few weeks ago is to walk to Popradské pleso, and then take the ziz-zag path up to Sedlo pod Ostrvou - from the restaurant by the lake you will see the colourful dots of people making their way up the seemingly perpendicular mountainside. The views are stupendous, and is a worthy alternative to Suchá Belá.