the ferry to charitas is the boat that arrives closest to the area in niterói where there are the most hills - and on this link is the schedule from praça xv.

going by car  is fairly complicated,  and navigating through niterói's streets can be quite difficult, even with a gps.

the car ride includes crossing the longest bridge in brazil, the ponte rio - niterói which just like the name implies, connects the two cities. 

the bridge is 13 km (8 miles) long, and there is a toll of few reals which is paid only one way, coming from rio.