Candolim is strung out along a single main road parallel to the beach. Walking it from end to end takes 30-40 minutes; tuk-tuks are everywhere for short hops.
Scooter rental is the standard way to explore the wider area — expect to pay around 400-600 rupees a day. Get a helmet, check the brakes, and remember that Goan traffic is unforgiving. Petrol stations are scarce so fill up before any longer trip.
Taxis are easy to find at the main beach entrance and tuk-tuks line the main road. Both have set "tourist" prices that locals do not pay — agree the fare before you set off. The Goa Miles app gives metered fares for taxis if you prefer the certainty.
For trips to Panaji, Calangute, or Mapusa, local buses run along the main road for next to nothing, though schedules are loose.