A sail boat or yacht.
A steering wheel on a sail boat is still called a steering wheel.
They were called longships.
the pole that holds up the sail is called the mast
When a ship, not a boat, leaves port it "sets sail."
A boat with one mast and one sail is called a cat boat. It is an old design with a very shallow draft designed to be used in areas of shallow tidal waters. Usually they a very wide for their length. a sail boat!
Cleats
A sail boat Also motorsailers and rafts
Yes he did sail by boat
It's usually called the Mainsail, or as sailors pronounce it, the "mains'l". It is sometimes called the "sheet" too, though that is more generic. +++ The "sheet" is the line that controls the sail's angle across the boat.
the masts
because you use a sail to move the boat