Both destinations are served by Dabolim Airport (GOI). Since there's no flight route between them, the best way to travel is by road.
Goa
Fly to Dabolim Airport (GOI), then travel by road to Goa. Taxis, buses, and private cabs are available from the airport.
Haliyal
Fly to Goa (GOI), then travel by road to Haliyal. Local transport options include taxis, auto-rickshaws, and state buses.