Well, the easiest way would be to let the cruise line transport you but if you arranged your own flights that won't work. To drive there you will take the Beeline (528) from the airport over to the coast. This is a toll road that runs over to the east coast from Orlando. As I recall, there should be signs at the end of the Beeline directing you to Port Canaveral, which is located between Titusville and Cocoa. You can also try MapQuest or some other mapping site. I would think you could probably get some sort of shuttle -- for a fee, of course.
Hope this helps and enjoy your cruise.