Sheboygan makes a great little get away either for a couple or family. There is blue harbor resort which has a great indoor water park. Next door is triple play fun zone with arcade, batting cages, rock climbing, and miniature golf. If that doesn't interest you, bring your fishing pole because there are a lot of big fish to be had here.
You can also go across the harbor for neat little shops and restaurants. I highly recommend Brisco County Grill, they have great food.
Take a tour of the Kohler design center when in the area, you will love it.
Best Way To Get Around:
The best way to get around is by car.