We are two older couples, with 10-12 days on land in very late August. We can get our best fares doing a RT LAX to KL, so that becomes our starting and ending point. We want to spend several days in Singapore, a few nights in KL and one night in Melaka. We had planned on spending 3 nights in Penang. We do not want to drive ourselves (none of us is anxious to learn how to drive on the other side of the street!). Air Asia can get us from Singapore to KL and from Penang to KL for $20 OW per person, but that seems to be a lot of airport time. Our interests are primarily food related, culture, a few buildings and temples, nature - things that will be very different from the US. We are not shoppers or museum people to any great degree. Our main interest is the food, both restaurants and food stalls - this is the big reason for Singapore and was our interest in Penang. Can someone help me figure out an itinerary that doesn't require so many trips to the airport?

You want to go North and you want to go south and return back to the middle?

hmmm?

All I can say is that the buses in Malaysia are superb, and there are trains too (also pretty good).

I think I might try to fly to Penang, and fly back to KL (you can do it by train but it involves a ferry crossing and connex you may not wish to negotiate).

Then train to Melaka; train/bus tio Singapore, and fly back to KL.

Or do in reverse.

Or spend the extra money for an open jaw flight into Singapore and out of KL.

When you see those air fares do note that you have to add taxes / charges so although the fares are 'cheap' don't base your budget on the 'from' fares without checking what the 'totals' will be.

I agree train travel can be an option also or express buses for short journeys.

Penang ( georgetwon ) is great for stall/hawker food and you will enjoy that, there are various tours around the island.

Although you don't want to waste time on flights, travel by bus/train would in general be longer but do spend a while to look into that, train travel can be stress free.
KTMB ( malaysia Railways ) do a 5 days rail pass for US$35, 10 days $55, extra for sleeper trains, that covers domestic trains, they say it also includes Singapore(?)
http://www.ktmb.com.my/

Buses:http://www.mycen.com.my/malaysia/transport.html

KL to penang about 7 hrs by train, but you could split that if you say spend a day in the Ipoh area or somewhere close by

I think in the end you may choose flights, but check those fares, you may find in some cases rail could suit / change from flying.

If you base in KL remember you can always leave the bulk of your baggage at your hotel, so you could do Penang, back via KL and then Melaka.

I would get a good guide book ( if not already) that has a simple map to help plan routes.

Firefly also do cheap flights KL ( Subang old airport ) to Penang
http://www.fireflyz.com.my/

Note : 50 seat F50 turbo prop flights as opposed to Air Asia 737/320 jets.

They also fly between Penang and Langkawi and also to other points.

Note limited 'free' baggage allowances on the budget airlines

Worth checking any air passes with Malaysia Airlines too ( I think they have a LAX office )

We took a nice luxury bus between KL and Penang and thoroughly enjoyed the ride last year. It took about 4-5 hours and the roads were good. We, too, didn't want too many trips to the airport, so decided to try the bus option.

Here's the link of the service we used.

http://www.plusliner.com/

Long distance buses in Malaysia are very comfortable. Definitely consider the train, though - see http://www.seat61.com/Malaysia.htm for lots of info on taking the train.

I forgot about seat61, yes, that is a superb website for rail travel anywhere and certainly a lot easier than the KTMB website itself.