SomeoneElse
There are no licence-compatible OS maps with PRoW info on them.  You may find that some authorities have an "open data" stance that means that they have suitably licensed information that can be used, or issue definitive statements that are unencumbered by an OS IP.  
There was some recent discussion on the talk-gb list about the different responses that people had got when asking about the licence status of certain information (sometimes different people had got different answers to the same question).
