Taxis do take dogs. No crate required. There is a small surcharge. Some drivers are afraid of dogs and prefer not to take them. I think that they "legally" have to, but if a driver really objects its pretty easy to find another cab. I usually bring a small cloth or towel when we take cabs and quickly wipe down the seat/ any drool when getting out. The drivers seem to appreciate this.
Dogs are also permitted on most ferries. They have to sit outside and technically must be muzzled. The muzzle requirement is enforced in varying degrees. I usually just keep the real muzzle in my backpack and put a gentle leader or halti on the dogs head, which usually works. Never had a muzzle before moving here. They can be picked up pretty cheaply from any of the pet stores on Cannon St. in Causeway Bay. I think they can also be ordered from
Noblepetshop.com.