I found this link to a map of shore access points for kayaks and boat ramps around Kitsap Peninsula and Bainbridge Island.
If you try any of these out, let us know what you find.
It looks like there are 3 places in Port Madison. Originally I thought there were none. Then for a few years I knew there was one by Port Madison Yacht Club. This year I heard about the one on the North side of the cove. This map shows there is a third place.
There are 10 places between Keyport and Poulsbo!