You could go via Agios Georgios, Pagi and Makrades or out to Agros and Arkadades, then to Doukades. They're both about 20km and take 30 to 40 minutes, if I remember rightly.
I did the journey on a motorbike as a circular route and had the afternoon in Paleokastritsa. What a day that was, the scenery both ways is no less than stunning! ( I can recommend Aladinos restaurant in Paleo, furthest left on the main beach) The roads were pretty good in both directions, it's justbest to take it steady, especially going up or down in Agios Georgios.
As for a direct bus, there isn't one that I know of, so it would have to be a bus in to town and a bus out to Paleo.