Dry and cure times for water based products are generally shorter than their solvent based alternatives (that is not universally true but should apply in this case).
The general answer to your question is that the longer you wait the better but 24 hours between the stain and the sealer should be plenty of time. If you are in a hurry for some reason you can wait until the stain is dry to the touch (meaning you don't get color residue on your fingers if you wipe your fingers across) and begin sealing.
In the past I have wiped stain on, let it sit for about 30 minutes, wiped it off and immediately applied my topcoat.
It has always worked fine for me but I would not recommend it for a high quality piece of woodworking, nor for anything that will get a lot of usage. So no chairs, tables, cabinets etc.