We went over on a Catamaran trip earlier this year and it was wonderful. We left at 8:00 a.m. had breakfast on the boat and a great sail over. When we arrived, we snorkeled for a while and then had a picnic lunch on the beach. (They had called us the day before and taken our order.)
Afterward we wandered up to the hotel (which is amazing) for a drink and then went back down to the boat and had one of the best sails of my life back to Maui. Dessert and drinks were served on the return trip.
Fabulous day.