The Canadian Boarder Services Agency offers a program called CANPASS that provides expedited border clearance for private boats that are listed as low-risk and have been pre-screened. You must be a citizen or permanent resident of Canada or the United States and have lived in either country continuously for the last three years. Please visit CANPASS for further eligibility requirements.
How CANPASS works is that the boat owner/operator in charge contacts the telephone reporting centre (TRC) at least 30 minutes to 4 hours before arrival at a designated marine reporting or customs site in Canada. The boat owner/operator can then make their declarations to the CBSA by telephone.
Please visit CANPASS for further information about the program and designated marine reporting sites.