Some of the Cocoa Beach/Cape Canaveral hotels have park & cruise programs that include a shuttle. I believe the Radison is one. I'm sure there are others. Like Laura said the area is not that large that a shuttle will save you more over the cost of a cab. Just be sure to stay north of the Air Force base.
A Bad Day At Sea [with power] Always Beats A Good Day At Work
Carnival: Glory 2004, Destiny 2008, Splendor 2009, Freedom 2011, Valor 2012, Dream 2013
Celebrity: Summit 2011
Princess: Ruby 2010, 2014, Caribbean 2013, Coral 2014, Regal 2014
Star Clippers: Royal Clipper 2015