Up very early on our first full day in Maui, we were at the top of Haleakala for sunrise (just). The drive up is fun; the road is switchbacks all the way to the top.
The photo of the inside of the crater was actually taken on our way back down from the peak (which is 10,023 feet above sea level). In it you can see a cinder cone from a more recent eruption (the volcano is officially dormant, not extinct).
You can check out a live webcam at the top of Haleakala as well. Sunrise at the time of writing is around 6am Hawaiian time (9am US pacific time or noon US eastern time).