Quickest way would be as said above... Leave the car behind, take the MK bus and then the FW boat, the boat drops you off right next to the restaurant. But that would depend on what time you need to be there and what time MK opens, but here are directions if you want to drive
To drive there:
Make a Left out of Pop and go to the traffic light at Wide World of Sports. Make a right at the light. Follow the signs to MK and take the exit that is listed for MK. When you get to the toll plaza stay as far right as you can. You will go through the toll plaza for MK, go to the FAR right, the lane will go straight or turn right...turn right (towards Fort Wilderness). You will go PAST the Fort Wilderness entrance and make the next left (there is a sign there as well, but it is the parking lot not the main entrance to the Fort). Park the car and walk to the building on the right of the parking lot, you will see the kennel and the stables, at the front on the right is the bus stop. Take one of the colored buses (they will say Settlment Purple, Orange, Yellow-you can ask the bus driver which color is the most direct, they will all get you there, but not sure which is the fastest). When you get to the settlement (Pioneer Hall stop) you will walk towards the buildings and the Trails End is past Pioneer Hall.
Unfortunatley you can not drive right to the restaurant. The internal bus from the parking lot is the only option. Anyway you go it is time consuming so make sure you leave yourself a lot of leway.
*you could go right out of POP and make a left at the traffic light at the fire station, but going that way you have a few traffic lights to contend with, going the other way there is only one*