Rarely, and I do mean rarely, a cruise will call at Cowes, Phillip Island. They are able to have a late departure for the penguin parade, with only a short cruise to Melbourne overnight. We have been on a cruise that called there, and several hundred were on buses to see the penguins.
From Melbourne, not possible. For Koalas though, check out Healesville Sanctuary. That is doable.
https://www.zoo.org.au/healesville/