Public Transport
Buongiorno
the best way is by train. For train timetables, search from "Firenze - tutte le stazioni" to one of the 5 towns, such as "Manarola" - you'll see all the possibilities, with info on changes. You don't need to buy tickets ahead of time, all trains are local. Or you can do the same thing searching from Pisa.
Buon Viaggio!
Donna Denise