Yes, they have it and they have a desk set up by the baggage claim area. The thing is it isn't too cheap, something like $32-$35 per person each way so for two people round trip you are looking at $130 or so. But given it is almost 50 miles that really isn't too bad.
If it is more than one person you may want to rent a car. One way rental in Fl. through most agencies has no drop off fee so it is only about $50 to rent a car in Orlando and drop it at the port. If you are arriving a day early (highly recommended) then you will have use of the car for the night. We are going on Oasis and flying to Tampa the night before. I have booked a mini van for $65 to pick up at Tampa and drop at the port the next day (4 adults traveling). Definitely cheaper.