Ferries to Stavanger and south west NorwayThere is now only 1 international ferry service on the west coast of Norway and this calls at Tananger near Stavanger - FjordLine operates two new ferries in a daily service to Hirtshals Denmark.
There are other ferry services to Denmark and Sweden from other ports.
see December 2013 update, which includes more details on the alternatives).
To travel with your car from England to Norway, the choices are: DFDS from Harwich to Esbjerg in Denmark, then drive to Hirtshals in north Denmark for a second ferry to Norway; Stena line from Harwich to Hook of Holland, then long drive to Hirtshals and the second ferry. DFDS is more expensive and less frequent; the drive from Hook of Holland is long and congested in places (e.g. Hamberg) - you choose.
main Arrival page on www.stavangertravel.com