Services between the two countries stopped when the US imposed a trade embargo on Cuba in 1960.
The US announced the restoration of diplomatic ties with Cuba in December 2014.
The US government has now lifted the ban and a number of ferry companies say they have been given licenses.
The latest announcement does not necessarily mean that boats will start launching for Cuban shores straight away, as there are bureaucratic hurdles to overcome in both countries.
However, the move is another indication of Washington’s desire to put the policies of isolating Cuba in the past and begin a new era of co-operation.
President of the Miami-based United Americas Shipping Services Joseph Hinson called the move “a great step forward”.
Joseph Hinson said that “if all goes smoothly we could have things up and running by September”.
Havana Ferry Partners of Fort Lauderdale, Florida, said it also had a license.
“This is a historical event. Thanks to President Barack Obama, to whom we are very grateful, for his leadership,” the company wrote on its Facebook page.
Ferries will also be allowed to transport cargo to Cuba, which sits 90 miles from southern Florida.
A new charter flight service from New York City, operated by JetBlue, had already been announced.
The service was agreed during a recent trade delegation of New York-based companies to Cuba, led by state governor Andrew Cuomo.
Despite the new flights and ferry services, a travel ban on Cuba is still in place for US citizens.
Only those who have the right paperwork in 12 different categories are permitted to visit Cuba.
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