We had a wonderful experience with Baja Ferries. We made our reservations on line in advance, and got the proper documentation for the car when we crossed the border in Tijuana, so it made for a smooth process at the port. We arrived about 3 hours early, because we knew the loading process for the cars and trucks takes time. Eduardo and I had to separate to board the ship. He waited in line to board with the car, while I was sent to a different area for passenger boarding. Here's a picture of the ramp inside the ship for loading the cars and trucks.
The next morning we landed in Mazatlan around 9 AM,