Schooners and smaller motorboats leave from Angra's marina throughout the day on circuits of the bay, stopping at beaches on the smaller islands and at good snorkelling spots. A full-day trip typically visits three or four stops: clear water over coral at spots like Ilha da Gipóia, calm sandy beaches on uninhabited islands, and a seafood lunch at a floating restaurant or beach bar.
Private boat hire is also easy to arrange from the marina for those who want to set their own course. The islands are densest in the stretch between Angra and Paraty to the west, and conditions are generally calm enough for a half-day circuit even on busy weekends.