I have visited Kuranda on our own (not while on a cruise). It's really beautiful and certainly worth the day trip we took Gold Class on the train to Kuranda and then took the sky rail back (note the skyrail and the train DO NOT depart and return from the same area), you will have to purchase a separate transfer.
Would I do this on my own, while needing to get back to a cruise ship though? Absolutely not. If you have an overnight stop in Cairns, I would say no problem at all. However, we had our own nightmares just trying to get back to our car (even though we had pre-booked transfers as per the offer you posted). Be willing to pay for an uber back, as we did. Also, if anything happens in Kuranda, you are a 40 minute drive back to Cairns, I would imagine a taxi or Uber to be quite slim in the area.
I 100% recommend going to Kuranda, but wouldn't risk it on your own.