Crane Cove is a beautiful waterfront park with access for paddle boards and kayaks. This area is protected from the wind (it will be less choppy here than in the middle of the bay). If you decide to paddle up to mission bay or down towards Islais Creek you'll most likely face more currents and winds. The cove area itself is great for beginners or people just wanting to get out for a quick paddle.
Grassy areas provide nice spots to picnic or set up your watercraft. The beach is more pebble than sand and there is a floating boat ramp on the beach.
Street parking is available, but can be tough especially when the weather is nice or the warriors are playing. There is a paid lot for crane cove as well. If you have a compact sup or kayak you could take muni and walk a couple blocks.
Pets must be on-leash.