With miles of Great Lakes shoreline, Wisconsin is blessed to have a ton of gorgeous beaches to while away the hours on during the hot summer - and that's not even accounting for all the lakes we have to enjoy. But if you're looking for a small little day trip that takes you to two of the prettiest beaches in the state as well as some delicious food and dessert options, this is the trip for you.

This trip is awesome because it can really be taken in either direction. For this trip, we've got you starting in Two Rivers and ending in Sheboygan, but you could always reverse it. This little stretch is just about 40 miles and will take you on one of the most scenic drives in all of Wisconsin.

An editable version of this map can be found here.

The beauty of this trip is how it hugs the Lake Michigan coast. Whether you start in Two Rivers and head south or begin in Sheboygan and head north, you've got just 40 miles to traverse to relax on two different but amazingly beautiful Wisconsin beaches. And there's plenty in between the two to keep you and your family entertained. This is the perfect way to spend a summer day.

1. Point Beach - Two Rivers

In Two Rivers, the beach is in Point Beach State Forest. It stretches for six miles and will make you feel like you're far from home.

With white sand beaches, cool lake breezes and the most relaxation you could ever ask for. it's the perfect place to do your toes in and enjoy. Admission is $8 per car per day or a state DNR car sticker for the year can be purchased for just $28. Located at 9400 County Rd O, Two Rivers, WI 54241.

2. Washington House - Two Rivers

After you've worked up an appetite at the beach, stop for a sugar fuel-up here. Two Rivers claims to be the home of the ice cream sundae, and Washington House preserves that fateful day in 1881 with a beautiful old-school ice cream parlor. Open from 10 a.m. to 8 p.m. every day in the summer, this is a great little place to take a break, enjoy a sundae and learn about the area's history. Located at 1622 Jefferson St, Two Rivers, WI 54241

3. Mariner's Trail - Two Rivers to Manitowoc

This gorgeous paved trail runs right along the lakefront between Two Rivers and Manitowoc. Bring your bikes or rent some and lazily meander up or down the coast on this jaw-dropping trail.

4. Cedar Crest Ice Cream - Manitowoc

After all that biking, you'll have worked up an appetite again. This is the flagship store for this big ice cream maker, and you can stop here to try pretty much anything your heart (and stomach) can dream up. You're like a kid in a candy store here. You might think you don't need two ice cream stops in one day, but you're probably wrong about that. Located at 2000 S 10th St, Manitowoc, WI 54220.

5. Kohler-Andrae State Park - Sheboygan

One of the state's hidden gems, with miles of pristine shoreline. There are boardwalks over the natural sand dunes that lead you out to the beach. You can spend time exploring this interesting park that contrasts forest and marshland with the grassy sands of the shore.

This side of Lake Michigan doesn't tend to get the windswept beauty that they do across the way, but Kohler-Andrae is an exception. You'll fall in love with the wild beauty here. You'll need a vehicle admission sticker from the WI DNR, which costs $8 per day or $28 for a year sticker you can use again and again at all state parks and natural areas. Kohler-Andrae State Park is located at Located at 1020 Beach Park Ln., Sheboygan, WI 53081..

6. Il Ritrovo - Sheboygan

This charming and oh-so-delicious spot is just one of 98 in the entire country to be certified by the Associazione Vera Pizza Napoletana with a special designation saying they meet strict requirements that respect the tradition of the art of Neapolitan pizza making. The pizza here is wood-fired, smoky and comes with some of the best, fresh toppings you can imagine. This isn't overly sauced and cheese-covered pizza. This is pizza where the flavors of quality, fresh ingredients are the star. If you've never eaten here, you need to make a point to. It's one of the very best spots in all of Wisconsin and you will not regret it. Located at 515 S 8th St, Sheboygan, WI 53081.

What are your favorite things to do in Two Rivers, Manitowoc and Sheboygan that should be on this list? Let us know in the comments!

Wisconsin actually has a few beaches that could pass for the ocean - read all about them here.