To get to the boat, you will have to put a life jacket on, and get on a small boat that will take you from the beach to the ship that does the tour. Once on the ship, you will take a seat, and a few minutes after the boat will start moving in the direction of Praia de Amor.
Most of the time, the boat does not get close enough to Love Beach. I recommend going after the tour to enjoy this beach on foot (one of the nicest in Brazil).