Me and my wife and son went on a 1 night cruise with Signature Royal and enjoyed it tremendously. Our itinerary included visiting a fishing villages and oyster farm, swimming, cooking lesson, squid fishing, tai chi lesson, cave and beach visit and kayaking. They pack a lot in the equivalent of 24 hours but was also extremely relaxing. Food is excellent and very filling. The highlight was probably the early morning tai chi on the roof in such a beautiful setting.
Would have been nice to do two nights but you equally get to see and do a lot on a single night cruise. Wholeheartedly recommend this.