You can take any NJ Transit train from Penn Station to Secaucus Junction station and transfer to either the Main/Bergen Line train or Pascack Valley Line train to Hoboken which is the next and last stop, fare is $5. You can get to Penn Station by taxi ($45+tolls+tip), NYAS express bus ($15) or Airtrain from your terminal to Jamaica Station and then E subway ($7.25) or LIRR ($13) to Penn Station.
You can take any NJ Transit