Yesterday, I came by bus down into Rio to meet Camillo after his trip to the USA. I left Friburgo via Mil e Um (1001) on the 11am bus. Buses run on the hour from Friburgo to Rio and on 40 minute past the hour from Rio to Friburgo. The trip is right at 2 hours 10 minutes plus taxi on both ends. Yesterday my ticket was R$22.80 but that fluctuates depending on time of day/day of week/holidays etc. (R$17.00-23.00) The taxi in Rio was also R$22.00 but I gave the Motorista an extra R$2.00 cause traffic in Ipanema was crazy and we were not on the meter but doing 'flat rate'. Going back the prices will be about the same. So for about $R90.00 you could come to Friburgo for the day with no hassle of driving.
I dressed as I usually do for a bus ride; blue jeans, a light t-Shirt and a shawl in my bag to keep from freezing with the AC turned to 22c. The joke was on me, the bus was Conventional - or with no toilet and no AC. It was a open-windows-all-the-way day.
While still in the mountains it was a very pleasant trip - I was asleep immediately and only awoke past Cachoeiras de Macacu. Once down in the valley though, it was miserably hot. The air blowing into the bus was HOT AIR - there was a baby crying behind me - I was in full sympathy. A couple of times we were going slow - a truck or cart in front of us (?) and it was death defying HOT. Blue jeans is not something you want to be wearing when the temperatures are upward of 40c. It flashed through my mind that no Brazilian would even look if I stripped my jeans off for comfort.
Surprisingly when we reached the bridge (Ponte Rio - Niteroi) the wind off the bay rushed through the bus and it felt cool and refreshing.
The 1001 web site has lots of information, even talks of a museum on wheels. http://www.autoviacao1001.com.br/pt/
You can switch the site to English and buy tickets for travel.... This trip for me was uncomfortable but generally the buses are clean and comfortable and everyone is courteous both staff and other clients.