From Waikīkī, allow about an hour in light traffic: H-1 west to H-2 north, then Kamehameha Highway through Haleʻiwa and up the coast. The freeway is not the problem. Haleʻiwa town is, and on a weekend morning the queue through it can add half an hour by itself. The Joseph P. Leong Highway bypass skirts the town centre and is the right call if you are not stopping.
The longer windward route — Likelike or Pali Highway, then Kamehameha Highway up the east coast past Kualoa and Lāʻie — takes longer but is a far better drive, and it puts Kahuku and the food trucks on your way rather than at the end.
TheBus route 60 serves the coast road and stops close to the bay. It is slow, often standing room only, and the right answer only on days when the highway is jammed.
Parking is the free beach-park lot on the south side of the bay, plus whatever the highway shoulder allows. Leave nothing in the car.