Puerto Adolfo Lopez Mateos seems to be a popular access spot. This is where some others access the northern part of the bay. You can launch and fish from there and there are also dirt roads leading north and south to explore further.
Further south and getting into the larger part of the bay is San Carlos. I believe this is where the sardine processing plant is.
There are a couple of hotels and restaurants in each, and even some Airbnb listings for houses!
I will do some research and see what I can find.
www.garybulla.com has some info and offers paid tours.