The stationary hydrodynamic equations for the transonic accretion disks and flows around rotating black holes are presented by using the Kerr-Schild coordinate where there is no coordinate singularity at the event horizon. We use two types of the causal viscosity prescription, and the boundary conditions for the transonic accretion flows are given at the sonic point. For one type of the causal viscosity prescription we also add the boundary conditions at the viscous point where the accreting radial velocity is nearly equal to the viscous diffusion velocity. Based on the formalism for the transonic accretion disks, after we present the calculation method of the transonic solutions, the horizon-penetrating transonic solutions which smoothly pass the event horizon are calculated for several types of the accretion flow models: the ideal isothermal flows, the ideal and the viscous polytropic flows, the advection dominated accretion flows (ADAFs) with the relativistic equation of state, the adiabatic accretion disks, the standard accretion disks, the supercritical accretion disks. These solutions are obtained for both non-rotating and rotating black holes. The calculated accretion flows plunge into black hole with finite three velocity smaller than the speed of light even at the event horizon or inside the horizon, and the angular velocities of the accretion flow at the horizon are generally different from the angular velocity of the frame-dragging due to the black hole's rotation. These features contrast to the results obtained by using the Boyer-Lindquist coordinate with the coordinate singularity at the horizon.