Yes. from Tsawwassen-Swartz Bay immediately North

of US-Canada border. You can also take Washington State ferry from the town of Anacortes about 1 hr 1/2 northwest of Seattle, which goes through San Juan Islands with a brief stop at the resort town of Friday Harbor. You might want to compare prices on both websites - not sure which route is cheaper.

In the summer months and holidays, reservations are strongly recommended, especially if you have a car.