Swim?
In Cabo you tender. You get off the tender in a little marina area, there there's a number of companies that are going to talk you into getting on their boat. Me and my friends got one, we got it for about $5-10 a person, then after he dropped us off at beach.
We were on a little fishing boat thing (we're crew and we wanted to get there quick, cheap and easy), but the more you're willing to pay, the better the options of boat...