What do kayaking Prius owners haul their kayaks with? Roof rack? trailer? If roof rack which one? I have a 2007 Prius.
Most just simply put them inside, no rack required. If you fold down the back seat (just one) and move the front seat forward all the way, most medium to small kayaks will fit. If not, you can tie down the hatch. If you insist on a roof rack then I can only think of checking Thule's website. Most kayakers I know modify roof racks for their specific purpose.
For canoes, I use those foam blocks and straps. I like not needing a rack. We used the foam blocks for a SUP board as well--worked well.