As above, the only direct ferry option is the cargo ferry from Immingham to Brevik.

Other options include ferry from Harwich to Esbjerg, then plenty of options from there, Copenhagen-Oslo, Fredrikshavn-Oslo, Hirsthals-Larvik, Hirtshals-Kristiansand or take the road through Denmark and Sweden.

I've driven all the way for the last 2 years when I've been over, used the channel tunnel and ferry between Denmark-Germany (Rødby-Puttgarden). The ferry from Harwich to Esbjerg is takes a long time and is very expensive not to mention boring, used this in 2008 when I drove the Escos to Ford Fair.