The Mumbai-Goa ferry service (catamaran) has been operational till around 2004.
During the sixties and seventies there was a pair of steam ships - Konkan Shakti and Konkan Sevak - operating between Panaji and Mumbai ports.
Of late there is a plan to revive the ferry service between Mumbai and Goa. Till that materialize, you can travel from Mumbai to Goa by air or road, and of course by Train.
By the way we're talking about the regular commuter ferry services. If you are looking for those packaged cruises, there are options. The cruise include Mumbai,Goa,Lakshadweep etc.