Do I need an ESTA to enter the US with the Victoria Clipper ferry?

I am thinking of visiting Victoria, BC in Canada and then going to Seattle, WA in the US, with the Victoria Clipper ferry.

I am a national of a country under the Visa Waiver Program. I think that if I enter by air, I need to fill an ESTA form. If I enter by car, I don't need one, I can fill a form when crossing the border.

With the ferry, what is the procedure? Should I necessarily have an ESTA?

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Do I need an ESTA to enter the US with the Victoria Clipper ferry? - Low angle of road sign with Route 66 End of the Trail inscription located near fast food restaurant against cloudy evening sky on Santa Monica Beach

Do I need an ESTA to enter the US with the Victoria Clipper ferry? - Skyline of illuminated megapolis seafront with glowing skyscrapers and Ferris wheel reflecting in flowing river at night

Do I need an ESTA to enter the US with the Victoria Clipper ferry? - World War I domed memorial with columns against overcast sky

Do I need ESTA to enter US by land?

Visitors to the US who intend to enter the country by land must get a valid ESTA before arrival. Travelers are advised to request their travel authorization at least 72 hours before departure, in case of delays.

Do you need a passport for Victoria Clipper?

If you are a U.S. or Canadian citizen, you will need one of the following travel documents: A Passport (required for air travel) Passport Card. Enhanced Driver License or an Enhanced ID Card (EDL/ID) applicable to select states/provinces only, this is different than a Real ID.

Can you cross the border with an ESTA?

If you have an approved ESTA when entering the United States at a land border crossing, you will not be required to complete the paper I-94W form, and your entry process is expedited. If you are coming to the United States by air or sea, you DO have to apply for ESTA.

Do you need a passport from Seattle to Victoria BC?

Anytime you're traveling between Canada and the United States, you'll have to pass through Customs and Border Protection. That means no matter how you're traveling from Seattle to Victoria or Victoria to Seattle, you'll need a Passport, Passport Card, Enhanced Driver License or an Enhanced ID Card (EDL/ID).

The Easiest Way to Get from Seattle to Victoria BC | FRS Clipper

Sources: Stack Exchange - This article follows the attribution requirements of Stack Exchange and is licensed under CC BY-SA 3.0.

Images: Charles Parker, Enric Cruz López, Mohan Reddy, Gotta Be Worth It