Bringing your car to Mallorca is not cheap. There are several routes. The trip from Palma de Mallorca to Barcelona takes 8 Hours, as an example.3-4 hours with a Fast Ferry.  For many years Trasmediterranea was the only option. Now there are more players in the market, and prices has come down.

http://www.trasmediterranea.es  ( Acciona ) Web in English and Spanish. The company with the most routes. Normal ferries and Fast Ferry.
www.balearia.net Palma de Mallorca to Denia via Ibiza, and other routes as well. Web site in English and Spanish
www.iscomar.com  Palma Barcelona - Palma Ibiza Denia - Alcudia Menorca. Website in Spanish, English and French. On line booking possible.
www.marxants.com/redirigidos/capebalear  Cala Ratjada to Menorca. Passengers only.