How do you wait until a specific time of day?

There is no option to wait until specific time of day. You can camp/use hotel anytime, to wait until next day morning (6:00 AM). Also, when you take hunting job, where monsters appear only at night, game will suggest you to skip time until night starts (8:00 PM). Those are the only means to skip time I've found in game.

I'm not really sure about opposite situation with monsters - when you take job for monsters, which appear only on day, during night.

Update: please note, that while progressing through game, actual time of morning/night is changing (morning starts later, night starts earlier), so times specified above, are correct only for first few chapters.