Darwin To Indonesia
I lived in Indo for 5 yrs until last year.
You can ship from Darwin to various ports in Indo.I do not know specific details but its doable.Start enquiries with Darwin shipping agents. Highly recommend Indo for overlanding as long as you have the patience and balls for the traffic.It is not dangerous,just hairy and great fun!!!!!Great place,great people.You will always be helped along the way.
Depending on where you ship to you will need to also island hop on ferries and then ship out from Sumatra(Madan)to KL.
If you have the time try and start as far East as possible as the rewards are great.