The PA 14 is a very heavy boat for anyone to get onto a roof rack, let alone the high roof of an SUV. You might look into a Thule or Yakima rack. Thule original square load bars have a weight limit of 165 lbs per pair. I'm not sure, however, what cradles you would use or how you would get the PA up onto the roof.
I found a video on Youtube of a big guy loading one on what looks like an Explorer using the Yakima Hully Roller system on the rear crossbar. Not sure what cradles are on the front. http://www.youtube.com/watch?v=i5nuyz4u0fk
A system like that would probably run you $300-400 for bars, mounting feet, and cradles.