About 10 minutes off Highway 101. If you're heading north from San Francisco, take the Alexander St. exit and make a left. From there, you can follow the scenic drive past several Golden Gate Bridge vistas, the Point Bonita Lighthouse, and finally, Rodeo Beach.
Check the tide charts along with the weather. Low tides work very well, but even a moderately high tide can work, just make sure you don't get caught between the rocks and the tide.
Rodeo Beach is just across the Golden Gate Bridge from San Francisco. It's a popular beach on warm and cold days alike, but at sunset, the parking lot clears and the photographers come out. For this image, I used my Nikon 14-24mm at 14mm. The textures on the rocks fascinated me and I thought the additional feeling of depth at a wide angle provided a balance to the image.