Sheruts, small minibuses that carry around ten passengers, ply between the main cities with great frequency. But moving about is limited by the numerous IDF checkpoints and Israel's habit of closing or blocking major roadways. When checkpoints close taxis tend to find alternative routes through the territories but are always subject to stoppage and inspection by IDF soldiers. Many sheruts only ferry passengers between the checkpoints so you may need to change a couple of times if you are heading deep into the West Bank. Lines can be long at checkpoints but generally move quickly - looking like a tourist and flashing a foreign passport might help to get you through a little faster. If you are traveling from the Dead Sea through the West Bank to northern Israel (eg to Tiberias on Hwy 90), it is possible to drive your own car and there are few hassles associated with this.