As has already been mentioned in the thread, only the skipper needs to go perform clearance into and out of the BVI while the whole crew needs to be present when clearing into the USVI.

But please don't forget that anyone who doesn't hold a US passport or is an LPR will need a visa. A real, actual visa; the ESTA process doesn't apply when traveling into the USA on a private vessel (if going to the USVI by ferry, an ESTA would apply).