I wondered about this - perhaps some sort of lander with a thermo-nuclear energy source that could slowly melt its way down to the liquid water, spooling out some sort of antenna from an internal compartment as it goes.
Turns out though that the crust is up to 25KM thick though. Probably not viable!
Edit: turns out 25KM spools of fibre are openly available to buy online (so i.e. not exactly unheard of) and only weigh 3-4kg. Maybe not so out of reach after all? Leave a "base station" on the surface at one end of the fibre, and at the other end another "subsurface station" that has a ROV-style tethered- "swimmer" (not a lander) that communicates back to the surface via the fibre, and the base station radios back to some orbiting thing/DSN etc. Fun to imagine these sort of things without any knowledge or experience or credentials! :)