I don't have the book, so can't check out his assumptions, so this might not quite answer your question, since you're asking about arbitrary 4 vectors $U^{\mu}$, but I'll offer it in case some of it is useful. In proving the weak energy condition (which is part way to proving the dominant energy condition), the 4 vectors in question are timelike. If this is the case, I might try the following:
Assume a signature (- + + + )
Starting with
$$T_{\mu\nu}=\nabla_{\mu}\phi\nabla_{\nu}\phi-\frac{1}{2}g_{\mu\nu}\left(\nabla_{\lambda}\phi\nabla^{\lambda}\phi+V(\phi)\right)$$
if $U^{\mu}$ is timelike and future pointing, then at any given point we can work in an orthonormal frame for which the components are $U^{\mu}=(1,0,0,0)$
If we then demonstrate the positivity of $T_{\mu\nu}U^{\mu}U^{\nu}$ in that frame, then it will hold in any frame since it's a scalar.
So, plugging in the components of $U^{\mu}$, we get
$$T_{\mu\nu}U^{\mu}U^{\nu}=(\nabla_{0}\phi)^{2}+\frac{1}{2}(g^{\lambda\rho}\nabla_{\lambda}\phi\nabla_{\rho}\phi+V(\phi))$$
$$=\frac{1}{2}(\nabla_{0}\phi)^{2}+\delta^{ij}\nabla_{i}\phi\nabla_{j}\phi+V(\phi)$$
So provided $V(\phi)$ is positive and $\phi$ is a real field (which it surely is otherwise you'd have had complex conjugates in the energy momentum tensor), then in that frame, at that point $T_{\mu\nu}U^{\mu}U^{\nu}$ is positive.
But this is just the weak energy condition you'd have to work a bit harder to prove the dominant energy condition.