More improvements:
It seems setaccess=no is not the correct command (?), so I changed it into 
setaccess no
Then it turns out that in the finalize section mkgmap notice the tag 
bicycle=yes and converts it into mkgmap:bicycle=yes, so it somehow switches the 
bicycle access flag back off (means access allowed), what I dont understand 
because I use 'setaccess no'. 
This is either a bug or I don't understand the working of the finalize section.

Anyway, as workaround I have to delete also bicycle and motorcar tags in the 
last step (for simplicity, other vehicles like taxi, bus etc are ignored):

route=ferry & foot!=no {set foot_ferry=yes} 
route=ferry  {set foot=no; add mkgmap:ferry=1} [0x1b road_class=3 road_speed=0 
resolution 19 continue with_actions]
route=ferry & foot_ferry=yes {setaccess no; set foot=yes; delete bicycle; 
delete motorcar} [0x1b road_class=0 road_speed=0 resolution 23]
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