Welcome to HT John.
There are several travel shops dotted around the resort(s) who do excursions to Gibraltar.
Betica Travel has shops in Torremolinos, Montemar and Benalmádena and they've been doing this for 27 years this year.
You'll find the shop before the windmill roundabout ... Come out of the hotel onto the main road and walk left and after a while you will see the roundabout ahead, it is called the windmill roundabout because it's full of colourful child like windmills on the island.
Before the roundabout ( about half way between the hotel and roundabout) is Betica Travel shop, it will be on your right on the opposite side of the road.
For Gibraltar they do various excursions on various days, whether you just want the basic transport and left alone when you get there, or the full package, but I don't know what exactly is included in the full package, they will tell you.
These are their current prices, I picked up this leaflet only a few weeks ago. Click on image to enlarge.
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Sanji