From Palma you can travel by car, mountain bike or motorbike...is a really a flat island excepting north area with mountains. By bike not impossible, but it's hard!
In my opinion by boat is the best solution. There is one problem in Mallorca by car. Majority of roads around this island are REALLY! narrow. This cause accidents, specially in summer time. Be careful please! A good option is take a bus of the different companies around island. You can avoid drive because driver is a professional!
Take the train from Palma to Inca you'll have really unforgettable memories.

