There isn't a bridge from Port Angeles to Victoria. There is a ferry called the Coho between the two cities, that I've taken before as a walk on passenger. It would probably be easier to just take the Victoria Clipper from the Seattle waterfront.
http://www.cohoferry.com/

Edited to add: to take a car on the ferry is $40 one way, or you'd have to pay to park in Port Angeles. This make the Victoria Clipper look even better.