Lake Superior has rocky shorelines, a few tumbled rock beaches and at 45 degrees is unswimmable in all but the most unusual circumstances (late summer, minimal waves, gentle breeze pushing warmed surface layer into shallow bays). The rocky vistas are mighty fine!
Porcupine Mountain State Park in Michigan's Upper Peninsula has a pretty shoreside campground. Michigan DNR Camping
Don't neglect the inland sights and sounds! More waterfalls than you'd imagine -- Picture Rock Natl Seashore, Tahquamenon Falls, etc. See this thread
and follow the link to Pahaska's UP trip.
Ludington State Park is on the sandy eastern shore of Lake Michigan. The ferries are inconsistent but went back & forth from Milwaukee & Ludington back in 1988.
Minnesota's North Shore has Temperance River State Park with two campground loops down by the shore. The wave sounds are fabulous! The in-park trail up the river reveals fabulous cauldrons eroded into solid granite (okay, gabbro if you must). http://www.dnr.state.mn.us/state_parks/index.html
Grand Marais, MN has a municipal campground down at the harbor. Nice harbor views, good fish shop just north of campground, Angry Trout restaurant right next to the fish shop is very interesting! LINK
Hope we get some input about Canadian campgrounds!!