Beppu is spread out and best navigated by bus. The Kamenoi Bus network connects the station with Kannawa and the jigoku circuit, and day passes are available that cover unlimited travel. Taxis are widely available and reasonably priced for a city with tourist traffic. The city centre near Beppu Station is walkable; Kannawa is about 20 minutes by bus.
Cycling is an option for the fit: the city is hilly, but rental bikes are available near the station. The ropeway to Mount Tsurumi requires a bus from the station followed by the cable car. Most ryokan will arrange transport for guests; many are on bus routes that connect the main sightseeing areas.