Two quick boats, the Hattitude holds 6 while the Asante holds 14. Both will get you out to your sites, diving, and back with plenty of time to enjoy the rest of your day.
The boats are docked at Berth 79 Ports O Call Village (Next to Crusty Crab Restaurant).
The map address is 1146 Nagoya Way, San Pedro, CA 90731
It's recommended to bring the filled out waiver with you. You can find it here.