I used Taxidatam https:/… and their prices are on the website (price is per car not per person). As you will be going one way like I did they may adjust price slightly but it gives you an idea. I have also heard that Cusco Local Friend is recommended on here too https://www.cuscolocalfriend.com/ too. They have guides whereas Taxidatam is just a transport option and you can hire guides at the sites if you wish. Maybe slightly dearer if they need a larger vehicle to fit you all in. Otherwise hotels you are leaving from or to can often assist with getting you a taxi for the day who will commute and stay with you.Edited: 16 November 2018, 17:07
We have used taxidatum several time on the route from Cusco to Ollantaytambo and vv. $65 is the fare for a normal car seating 4 but you will need a larger vehicle for which you need to request a quote - probably around $20_30 extra. The vehicles are excellent as are the drivers but they rarely speak English. A guide is not really needed, they are available at teh various sites.
Here is a link to our blog post of a recent trip with a lot of detail and photos https://accidentalnomads.com/category/peru/
With taxidatum you can pretty much spend as much time as you want at each site. Most trips take between 4-6 hours.
Re guides - they don't start very early I think. We'd planned to get a guide at Pisac but there were none around when we got there. We did get one at Ollantaytambo, later in the day.