Yes child, travel on top of boat (5)
I believe the answer is:
yacht
'boat' is the definition.
(I know that yacht is a type of motorboat)
'yes child travel on top' is the wordplay.
'yes' becomes 'ya' (I can't explain this - if you can you should give a lot more credence to this answer).
'child' becomes 'ch' (abbreviation for child).
'on top' indicates taking the first letters.
The first letter of 'travel' is 't'.
'ya'+'ch'+'t'='YACHT'
'of' is the link.
Can you help me to learn more?
(Other definitions for yacht that I've seen before include "Sailing or motor vessel for cruising or racing" , "Type of boat" , "Kind of boat" , "Pleasure-boat" , "Sailboat" .)