maricá is still relatively unknown to most international visitors,  as a result, for now there aren't any companies offering day-tours to maricá,  however, maricá can be easily reached by private taxi or via public buses. 

the prefecture of maricá maintains an official government website on this link with plenty of information and details about this interesting town.   

published by the instituto brasileiro de geografia e estatística -  ibge, this paper contains a wealth of information on the history of maricá and other topics.