Sorrento/Amalfi Water Only Cruise

There is ferry service.

Miles and Miles has a great private Amalfi Coast cruise which stops at private beaches, enables snorkeling,and hits all of the major stops on the coast. Go to for info and costs.

I think that most folks just use the ferries, and I see from a former post (last in the thread linked below) that you're already aware of those:

https://community.ricksteves.com/travel-forum/italy/day-trip-to-almafi-coast-from-sorrento-bus-or-ferry

Having taken previous glances at cruise options, most of them make stops for swimming and/or stops at a couple of the towns. Others of them, such as Miles and Miles, are very expensive so which one will suit depends on a combination of factors. I can't recommend any personally but you might look at something like this if nothing else turns up?

https://www.tripadvisor.com/AttractionProductDetail-g187782-d13886347-Amalfi_Coast_Tour_by_boat-Sorrento_Province_of_Naples_Campania.html