There are three options:
1. Walking (it's about 1 mile from DHS to the Beach Club)
2. The boat (it will take between 15 to 30 minutes, depending on where you get off)
3. A taxi (not really practical, but still an option)
My family would always choose the boat because it's more relaxing than walking, plus we're not a big fan of extra walking in the heat and humidity of Florida!
As the PP indicated, the boat makes three stops (S/D, YC/BC, and BW). You can get off at the S/D stop and walk to the BC or wait until the next stop at YC/BC. (Note that the boat dock is closer to the YC than the BC.)