Charters and schools
Charters and schools cover a great many opportunities from dinghy sailing schools, which is probably the best way to learn how a sailing boat behaves, through skippered or self-skippered charter, on though to tall-ship experiences.
The costs for these can vary quite a bit, but it's important to remember that, for yachts and ships at least, you're usually paying for full board. Whether that's on the basis of "everyone does a bit" of the cooking and cleaning, or whether there's a paid cook will be reflected in the cost. "Everyone does a bit" is probably how most yachts are run.
Searching the web for "sailing schools" or "RYA courses" should turn up lots of results, particularly for modern yachts. I make no secret of being a traditional-boat enthusiast, so my links here are rather biassed. But at least you'll have an idea for what to search.