You will find Nautesund Camping about 2 hours drive north of Bergen, just some 40 km under the Sognefjord.
You can drive fastest over the RV 57 over Åsane and Knarvik to Mongstad, and then take the ferry from Leirvåg to Sløvåg. Then follow the road RV 570 direction Duesund for about 7 km.
An alternative road is move straight on after Knarvik and turn left on the RV 570 direction Masfjordnes. There you can take the ferry to Duesund. Follow the RV 570 for about 10 km. This road has more bends, but is more pittoresque.
Timetables of the ferries you can find on:
From Denmark to Bergen are ferries going on a daily base (see www.fjordline.com); in 2015 two new vessels were taken into use and they are quite luxurous.
English, German, French, Dutch and of course Norwegian spoken.