There is signage, right on the front of the bus, just as you exit the bus, telling you that gratuities are gratefully accepted for exceptional service. I don't need, or want, my driver making an announcement to that effect as well...it is tacky!!
But, I like CleveRocks' drivers idea...it's not insulting and it gives you the idea.
I usually tip the driver if he/she has provided outstanding service, or if they handled my bags. I had one driver who never said a word, the entire time. Not a hello when I boarded the bus, not a word on the trip to the resort. But, when we got to the first resort, he quite loudly announced that tips are accepted!! Oh, I don't think so buddy!! Although he had to get out my bag from underneath the bus, I didn't tip him...not one cent. But I had a driver who was so personable, he was chatty to just the right extent. He gave interesting local information. He was friendly as you boarded, and then got off, the bus. I had no bag, other than my tote bag in my lap. But, that driver got a $5 tip from me that day.
I do not tip just because he drove the bus...that's his job. Nothing exceptional about that!!