Maui's waterfalls are concentrated on one side of the island for a simple reason. Trade winds push moist air against the eastern slope of Haleakalā and the West Maui Mountains, the air rises, and it rains: in some upper catchments, several hundred inches a year. The water runs off young, steep, porous volcanic rock and falls over basalt lips that have not had long enough to erode into gentle grades. That is why the windward coast has dozens of waterfalls within sixty miles of road and the leeward resorts have essentially none.
The practical consequence is that a Maui waterfall day is a Hāna Highway day. The road runs roughly 64 miles from Kahului to Hāna with around 600 curves and 59 bridges, most of them one lane, and it is not a scenic loop with pull-ins every mile. It is a working road that people live on. The waterfalls you can visit are the ones with somewhere lawful to leave a car, and that list is much shorter than the list of waterfalls you will see from the driver's seat.
Four stops carry most of the day. Twin Falls near mile marker 2 is the first and easiest, and it sits on Wailele Farm, a working family farm that chooses to open its land to visitors and charges for parking. Puaʻa Kaʻa State Wayside around mile 22 has roadside falls, pools and restrooms. Wailua Falls, past Hāna on the Piʻilani side, is an 80-foot drop visible from the road and one of the most photographed waterfalls in Hawaiʻi, with a car park that is little more than a widening on a blind bend. And Waimoku Falls, a 400-foot ribbon at the head of the Pipiwai Trail in the Kīpahulu district of Haleakalā National Park, is the one that repays the whole drive.
Two things to set expectations. First, the tallest waterfall on Maui is one you will not drive to. Honokōhau Falls in the West Maui Mountains drops well over a thousand feet into a valley with no public road access, which is why helicopter tours of the West Maui interior exist and why they command the prices they do. Second, waterfalls here are seasonal in a way photographs never show. From November through March the windward side is wet and the falls are heavy. By August a fall that filled a frame in February can be a thread down a black wall.
And one thing that is not negotiable. The ʻOheʻo pools, which older guides still call the Seven Sacred Pools, have been closed to swimming indefinitely because of rockfall and flash flood risk. People have been killed there. The viewing trail at Kuloa Point remains open and the Pipiwai Trail above is one of the best walks on the island, but the swimming is over, and the closure is enforced.