Can I go to HKIA by shekou ferry without air ticket

Hello, can i take ferry from shekou to HKIA without air ticket? My family is coming through HKIA and i would like to pick-up them at HKIA.
I would also like to know if there is enough time if my family arrived at HKIA at 8pm and to take ferry at 9.45 pm witht he lugguage automatically transfer to the ferry.