There are various ferry companies and routes to choose from depending on your base. You can either drive to the Spanish port and park your vehicle to embark as a foot passenger or take your vehicle across to explore further within Morocco and North Africa. Either way, you are in for a fascinating experience. The general procedure is to turn up and await the next ferry, with the exception of the Cadiz-Canary Islands route for which a cabin or seat needs to be booked.
Below is a list of sites for ferry timetables and prices:
Transmediterranea – www.transmediterranea.es
Ferries Rapidos del Sur – www.frs.es
FerriMaroc – www.ferrimaroc.com
Balearia Ferry Lines – www.balearia.co.uk
A Ferry To – www.aferry.to