The nearest airport is Porto Seguro. From there, take the ferry across the Buranhém River to Arraial da Ajuda and continue south by bus, van, taxi, or rental car. The trip is short on the map but can feel longer when ferry queues build up.
From Arraial, Trancoso is an easy day trip by van or taxi. Praia do Espelho and Caraiva require more time and rougher roads, so leave early if you are not staying overnight.