IMHO it's not worth the hassle to clear out of BVI, clear in to USVI (Cruz bay St. John), pick up your crew and then clear back in to BVI.
I would have them take the ferry to Roadtown and meet you on the boat. You can get the boat checked out and your provisions all set. It's possible they can get there in time to get off the dock and make the short hop over to Norman or Peter. And if not you can make an early departure off the doc the next morning.