This study develops an analytical model for coordinating vehicle schedules and cargo transfers at cargo terminals to improve system operational efficiency and minimize total system costs. The studied problem is formulated as a multihub, multimode, and multicommodities network problem with nonlinear time value functions for shipped cargo. This is done primarily by optimizing service frequencies and slack times for system coordination while also considering loading and unloading, storage, and cargo processing operations at the transfer terminals. In a series of case studies, the model has shown its ability to determine optimal service frequencies (or headways) and slack times based on given inputs. Numerical results are solved using sequential quadratic programming and a genetic algorithm.