Sausalito does have good restaurants, however they are not located on the water. Scoma's, Horizon, and Spinnaker are straightforward seafood restaurants that don't put much effort into their food. They do have amazing views and for some, that makes up for it. However, if you want the view, it's better to simply take a stroll along the water.
If you do want seafood, head to the end of Harbor Street. There, you'll find Fish, a relaxed restaurant serving up fresh seafood by an ex-chef of Masa's.
For more choices of good food, do what we do and head to Caledonia Street. You'll find restaurants serving Thai, Indian, and steaks. However, my two favorite restaurants are the cozy Italian trattoria Caffe Divino and Sushi Ran, which is the highest rated Japanese restaurant in the entire SF Bay Area according to Zagat.
For a coffee head to Caffe Trieste, on Bridgeway, which is open morning to night. It is usually packed for good reason. By the way, they have tasty pizzas (made in a wood burning oven) and show footie on the tele.
There are not too many places to go for a post-dinner drink. Smitty's Bar on Caledonia is a great dive bar if that's your thing. Caffe Trieste also has wines and live jazz on weekends. Patterson's has a roaring fire and is a great pub. Another place for jazz is No Name Bar - but the vibe at this bar is sometimes mixed frankly.
A lot of people go to Sausalito only during the day. If that is the case, my best recommendation for lunch is to go to the outstanding deli counter at Mollie Stone's and order a sandwich, a prepared salad, or choose what you want out of their 6 soups or self-serve salad bar. Then, take your lunch and before you head back over the GG Bridge, take a right into the Marin Headlands for an unbeatable view over the Bridge and SF. While admiring the view, tuck into your picnic.
Comments? Thoughts? Other suggestions? Totally disagree with what I have to say?