In this paper, a vehicular cloud (VC) model is adopted where vehicles offer data as a service. We propose solutions for efficient data delivery based on transmission scheduling methods where vehicles gather data from their mounted sensors. This is done by first organizing vehicles into clusters, so that each cluster works as VC. A distributed D-hop cluster formation algorithm is presented to dynamically form vehicle clouds. The algorithm groups vehicles into non-overlapping clusters, which have adaptive sizes according to their mobility. VCs are created in such a way that each vehicle is at most D-hops away from a cloud coordinator (broker). Each vehicle chooses its broker based on relative mobility calculations within its D-hop neighbors. After cloud construction, a mathematical optimization scheduling algorithm is used to maximize throughput and minimize delay in delivering data from vehicles to their VC broker. Our proposed optimization model implements a contention-free-based medium access control where physical conditions of the channel are fully analyzed. Extensive simulations were performed for different scenarios to evaluate the performance of the proposed cloud formation and cloud-based transmission scheduling algorithms. Results show that VCs formed by our algorithms are more stable and provide higher data throughputs compared with others.