San Francisco is known for impeccable culinary cuisine, so along the Embarcadero are fantastic restaurants, from the Pac Bell Park past Pier 39. On either side of Embarcadero Street are sidewalks but the bay-side one (above middle photo) is much wider than the city-side one (below middle photo) and a more scenic route.
 

 
 
 
Along the Embarcadero are 45 piers and some even have docks you can walk out on. This one at Pier 14 (above photos) is particularly sweet because it's paved, which is a lot easier to roll on for someone in a manual wheelchair than a wooden dock (below middle photo) a few piers down.
 
 
 
At Pier 39 there are a number of tourist activities to do, amazing views of San Francisco landmarks, and of course many restaurants and shops. One of the biggest attractions is the boat ride over and tour of Alcatraz. During peak tourist seasons reservations fill up to a year in advance; see accessibility options. Right in front Pier 39 is the Aquarium of the Bay (below left photo). Off the main strip of Pier 39 are long docks one in a wheelchair can wander down and see spectacular views, like the Golden Gate Bridge (above right photo). There are usually loud, playful seals that many enjoy watching for a while.
 

Just feet from Pier 39 is San Francisco's famous Fisherman's Wharf where you can buy any number of favorites fresh or cooked to order. One of the most popular places is the Fisherman's Grotto (above right photo). However, there are also international restaurants specializing in... you guessed it... seafood. On the other side of the fish market is a more commercial and tourist shopping area; many selling cheap souvenirs (below left photo).

The Buena Vista is located a couple of blocks from this fish market and makes the best Irish Coffee in the city. To get there, remain on Beach Street and will be on the corner of Hyde Street. There is a step into the cafe but someone can bring out their portable ramp. Restroom information is unknown.