Ubatuba is spread out along the coast. The centre and Itaguá are easy enough on foot or by bike, but the beaches are not lined up like a city promenade; they sit in separate coves along the Rio-Santos road.
A car gives you the most freedom, especially for Praia da Fazenda, Itamambuca, and the northern beaches. Local buses do run along the coast, but they are slower and less useful if you want to combine several stops in one day. For Ilha Anchieta, arrange a boat from the waterfront or one of the southern beaches.