There is a boat ramp at the entrance to Festival Park, next to the Tranquil House Inn. That would be a good place to launch the yak, and then paddle under the bridge and out toward the Bay. Depending on the wind (!) you can head out around the marsh ( to the left ). There are docks and piers to the right, but the locals may not be too happy if you start flipping baits around.
Do a Google Maps view of the area to get your bearings. Search Tranquil House Inn or 1587 Restaurant, and you will easily see the boat ramp and parking lot. You have another option...from the boat ramp, go slightly left and across to a pretty wide channel through the marsh. That will take you around to the bay without having to dodge boat traffic that may be approaching the docks.
Be sure to get a sandwich from Poor Richards there on the waterfront.
Kayak Angler, Red X Angler, and a Full Time Angler (as of 2/1/18!!!) Retirement!