At the north end of Girard Ave, turn left on Prospect St and then right on Jenner St, which runs into Coast Blvd. Go left and park when you are on the one-way section of Coast Blvd (south end). There are stairs and paths down to the rocks.
Late afternoon to post sunset is the best time. The area has much to offer year-round, but for the more dramatic skies, fall and winter are best. The seascape changes constantly based on the tides and surf.