Yes, all of the transportation is outside the theme parks. If you take the boat to the Contemporary, you'll have to walk to the main building and go up to the 4th floor to take the monorail, then it's one stop to the TTC. If you go to MK, you'll need to go over to your left to the monorail station, then it's two stops to the TTC (including stopping at the monorail).
If you're looking for the quickest way, it's probably the bus. The boat to the Contemporary is only about half the time as the one to MK, but the walk to the monorail is probably twice as long as the walk at MK.
We like using different routes, just to see everything, so have fun deciding.