Are you looking to to go for just the day or are you trying to get there in order to stay there?
If you are going for just a day, you could book the Mears shuttle. It's about $20 pp, r/t. It needs to be booked the day/night before you want to go. Then, a few hours before you want to return to WDW, you call them and they will give you the pickup time.
If there are several of you, you can hire a car service. The last time I did that it was about $60 plus tip for four of us to get there and back.