score:3
About five years ago I hired a car from Cairns and drove to the Daintree as you suggest. It is easy and scenic drive. A ferry crossing is included. This way you can find your own accommodation and easily get around if you want to hike, day-trip to the reef and generally explore.
I have not investigated public transport; there might be a bus service. You would likely need to catch taxis once there if you do arrive by bus.