Hi Benny,

Here is the info I sent by email.

Option 1:

Kaupanger – Gudvangen – Flam:
https://www.fjordtours.com/things-to-do-in-norway/car-ferries/kaupanger-gudvangen/
https://www.norwaysbest.com/globalassets/pdf/rutetider/rutetider-2022/fjord-cruise-naroyfjord-2022.pdf

Option 2:
Sogndal (not far from Kaupanger) – Flåm
https://www.norled.no/globalassets/2023/v3_sommerrute–bergen-sogn-flam-1.-april-2023.pdf

I personally would not take the E134. You can take road 520 over the mountains (beautiful and only a bit of tourist traffic very safe) to Sanda/Ropeid and from there jump on a ferry across the fjord to Sand or further south to Stavanger.
https://www.kolumbus.no/globalassets/ruter/baatruter/220426_ryfylke_rutetabell.pdf

Best of luck with your fantastic trip!