You can hop onto the passenger ferry (with pedal cycle) that links Helford to Helford Passage. This service has been in existence for over 300 years.
FERRYBOAT TIMES The ferry operates from Good Friday or 1st April to October 31st. The ferry will run on demand between 9:30 am and 5.00 pm. During July and August, the ferry may run into the evenings. For more precise details, check out the ferry website here.