Pengerang is an area at the southeastern tip of Johor, to the south of Desaru. The name is usually used to cover the dock and immigration post at Tanjung Pengelih, the village of Kampong Pengelih and the nearby town of Sungai Rengit.
Bumboats shuttle from Singapore's Changi Point Ferry Terminal to Tg Pengelih from 7 AM in the morning to 7 PM in the evening, operating on a first-come-first-served basis: once 12 people show up, the boat leaves. The journey takes about an hour and costs S$9 or RM 15 per person, plus S$2 for a bike. There are semi-scheduled departures in both directions at 7 AM and 1 PM, and the last boats back leave by 4 PM.
Another option launched in 2009 is the Merjdjan Ferry Services (tel. +60-7-8253333) speedboat service from Tanah Merah Ferry Terminal, which runs seven times a day every day except Tue and Wed departing from 7:50 AM to 3:50 PM, with the last return from Tg Pengelih at 7 PM. Taking only 20 minutes, this is much faster but also more expensive at S$28/38 one-way/return.
A final option is to take the Sebana Cove  ferry back to Singapore (4/5 services daily, last departure at 9 PM), but this is much more expensive (S$38 one-way) and you'll need to arrange a taxi to take you to Sebana Cove first.
Taxis shuttle between the Pengerang dock and Sungai Rengit for RM 5/person (shared, four person minimum) or RM 20/car (charter).
Bicycles can be rented in Sungai Rengit, or you can rent one at Changi and bring it with you.
Pengerang was the site of a major WW2-era British coastal battery. The part of it at Pengelih, right next to the immigration point, is open to the public but in a state of nature, with no trails, signs etc. Most of the rest is now used by the Malaysian military. 
Chinese pastries are a popular souvenir.
Seafood! It's the main reason to come here, with treats like lobster and crab much cheaper than Singapore or even JB.
There are three basic lodging places in town. If you want more luxury, head up the coast to Desaru's beach resorts.