If you want to walk on to the ferry, you can just walk off and right onto the main street. There is a scenic walk that is very short and kid-friendly to the main street (or you can follow the commuters up the road).
The diner is good. Nola's is the gourmet restaurant. There are great bakeries, coffee shops, ice cream, bookstores (travel and general), boutiques, a favored knitting store, many art galleries, etc.
It is a really fun way to spend half a day.
If you drive, Bainbridge has great places to walk in the woods or gardens.
Here is a website: http://www.bainbridgechamber.com/brochure2a.htm
Or you can find the Chamber of Commerce website.