The easiest route to Malaysia is by road. You can drive across to Malaysia through the causeway or through the second link. However, it is a hassle to drive from Malaysia into Singapore if you do not know the many road payment requirements in Singapore. Singapore requires some payment to be made by prepaid cards, etc., so be prepared. It is easier to take a taxi into Singapore, though rather costly. From Singapore, the causeway take you into the heart of Johor Bahru city while the second link bypasses the city JB and takes you in into the toll/ PLUS expressway that passes through the length of the Malaysian peninsular and goes up to the Malaysia-Thai border.
However, some options yo may try is by sea. There are daily ferries going into Malaysia from Singapore into the state of Johor. Its a good option if you want to go to the eastern part of Johor, such as Desaru. ........more at From Singapore to Malaysia
