A good way to visit the towns in the South of the Costa Brava is by ferry. You can see one of them in the picture. The only other way to visit the towns is by road, because there are no train stations in the Costa Brava villages.
If you want to take one of these ferries you just have to go to the town's main beach. Ferries visit the towns every hour or so. You can buy the ticket at the stands on the beach. You do not need to plan in advance.
If you take one of the ferry tours, you will also have the chance to see the wonderful rock formation on the coastline. Unfortunately they do not stop at the coves.