From Puerto Rico you can sail to both Puerto De Mogan and Arguineguin. Ferries depart twice an hour, the last returning in the late afternoon. Whichever town you choose to sail to, it's a trip of less than an hour, and on the return trips there are fish being fed, which you can enjoy the sight of from the ferries' glass bottoms.Remember, if you want to sail to the market in Arguineguin on Tuesdays, and to Mogan on Fridays, you need to get down to the ferry early, as it's a popular trip.
You can see the sailing schedule and prices here: https://www.lineassalmon.es/en/regular_line.htm