Sausalito, just across San Francisco Bay, has some of the best views OF San Francisco in the area.
Most visitors take a stroll in Sausalito, browsing in the shops and having a bite to eat. The ferry ride across the Bay to Sausalito is like a mini-bay cruise.
Pros and Cons
Sausalito has great views of the city - and it's pleasant enough otherwise, but to get there, you have to drive across the Golden Gate Bridge (and pay a toll to get back) or take a ferry (and face time pressures to be sure you don't miss the return trip).
More About Sausalito
If you need more information, check the Complete Guide to Sausalito. It will tell you about how to get there, where to park and when to go.
See where it is on a map. It's the solid orange-colored marker.