General relativistic magnetohydrodynamic (GRMHD) flows along magnetic fields threading a black hole can be divided into inflow and outflow parts, according to the result of the competition between the black hole gravity and magneto-centrifugal forces along the field line. Here we present the first self-consistent, semi-analytical solution for a cold, Poynting flux-dominated (PFD) GRMHD flow, which passes all four critical (inner and outer, Alfvén and fast magnetosonic) points along a parabolic streamline. By assuming that the dominating (electromagnetic) component of the energy flux per flux tube is conserved at the surface where the inflow and outflow are separated, the outflow part of the solution can be constrained by the inflow part. The semi-analytical method can provide fiducial and complementary solutions for GRMHD simulations around the rotating black hole, given that the black hole spin, global streamline, and magnetizaion (i.e., a mass loading at the inflow/outflow separation) are prescribed. For reference, we demonstrate a self-consistent result with the work by McKinney in a quantitative level.