The best way is by car. I-530 will get you to Pine Bluff from Little Rock, however you can also use highway 365, which basically follows the same route but has more interesting scenery and goes through various small towns.
Grider Field is an airport to the south of the city, however, there aren't any commercial flights there. It is used mainly for general aviation. Little Rock National Airport  is the principal air gateway to Pine Bluff.
Pine Bluff has an excellent road network. Getting around by car or Pine Bluff Transit buses should not be a problem.
There are plenty of murals on buildings in the downtown area. Also, a visit to the Delta Rivers Nature Center is highly recommended.