Take Wisconsin Highway 42 to its end at Northport, the tip of the Door County peninsula. Take the Washington Island Ferry [exit DNR] to Washington Island. The ferry carries people, vehicles, bicycles, and freight. Take County Highway W to the opposite end of Washington Island. Leave your vehicle or bike there and take the passengers-only Rock Island Ferry to Rock Island.
This little Island at the tip of the Door Peninsula is a splendid way to spend a weekend hiking and camping. The trail is moderate. Scenery varies from hardwoods to sandy beach and of course rocky bluffs. Best camp sites are sites B and C. I believe site c was voted the most beautiful camp sites in Wisconsin. Views of the lake and rocky beach. Bring water shoes.