Or, if you don't want to drive, take your resort bus to MK, and then take the boat over to FtW. No need to enter the park, and the boat ride is a very pleasant one. And it drops you a very short walk up to Pioneer Hall.
To return...if the park is still open, just reverse your steps. If it's the late show, then there will be buses that go to the various resorts right at HDDR for you. They won't be direct buses but they will get you there.