If you wish to enjoy a real sailing experience and you have a budget, then I suggest that you rent a two-three days sailing boat directly in Fethiye. This choice allows you to have berths and sleeping place overnight and more time available for a true visit of the islands. If you can't afford it, and wish to have a quick glimpse of the islands beauty, then there are daily trips available on-line, but they will not give you the opportunity to see all, of course.