Asakusa to Hakkeijima Sea Paradise

We'll be in Japan next month and we plan to see Hakkeijima Sea Paradise and combine it with the Yokohama City daytrip. Is there a more convenient way of going to Hakkeijima with less transfers? Is there's a bus terminal anywhere in Tokyo we can go to, that's fine too.

This is our itinerary

Hakkeijima Sea Paradise

Cup Noodle Museum

Mitsui Outlet Yokohama Bayside

Uniqlo Park

Do the air cabin

Pokemon Center Yokohama

I'm honestly considering a private tour but I wanna see the commute options first.