The drive from Manuel Antonio to Jaco Beach is about an hour. Remember, this is the road in which there are a number of palm oil trucks so you may get caught behind a truck going 10-15 mph for up to 30 minutes. This can change your drive time but you can always pass them on a solid line or even on the right hand side of the road.
It is a very pretty drive once you get closer to Jaco. There are two or three pull offs where you can pull off into a dirt area and take pictures of the coastline. There is also a pretty Jaco sign that allows you to take a picture of the entire beach town with the Jaco sign. This is a great spot for a video of the beach with the mountains in the background.