Parking in Amsterdam is always a difficult and costly. But if you still want to come by car you can try to find a spot on the Prinsengracht, better is to park your car in the parking lot at the Raamplein or garage at the Marnixstraat parking.
By public transport:
Tram 1, 2, 5 stop Prinsengracht.
Tram number 17, 20 stop Raamplein / Marnixstraat.
Walking is alsopossible, +/- 20 minutes from Central Station. The walk from the station to the gallery is worth it.