I worked there for two years and would walk between the Hilton at Fisherman's Wharf (not a Hilton anymore) to Market and Beale twice a day. It was my favorite thing about being in the City. There isn't too much of that amazing city I haven't walked. A popular place to stay is one of the hotels around Union Square. I didn't care much for that area because it was mostly out-of-towners and homeless on every single corner asking for money.
Also, it is a four-mile walk from Fisherman's Wharf on a paved trail out to the Golden Gate Bridge. I would run that late at night (never a problem) and when the moon was out, that was the most beautiful view I think I have ever experienced.