I've never done it, but I hear you can rent a kayak and cruise to some locations just outside of Two Harbors. Some ppl put their scuba gear on their kayak and paddle to the destination (wing fully inflated as you wouldn't want to have it fall over and sink...maybe even remove the ditchable weight). Here are some locations just outside of Two Harbors, with very approximate distances. Others pls feel free to correct these approximations:
Isthmus: 0.25 miles (probably the best bet as it is covered in life and structure and ranges from 6ft to 90ft in depth)
Bird Rock: 0.50 miles
Ship Rock: 1.00 miles
Eagle Reef: 1.25 miles
Sea Fan Grotto: 1.5 miles
Rock Quarry: 1.75 miles
EDIT: I should add that you should be cautious in these areas, especially Isthmus and Bird Rock, as boats cruise through this channel all the time. Bring an SMB and be ready to deploy.