Kaanapali resort area is a fun place to do that. You can park in the parking garage for the Whaler's Village shopping area and (I think) get a discount if you buy something. Whaler's Village (not a mall, an open air collection of shops) is basically in the middle, with several nice hotels and condos lined up along the beach in either direction. Lots to see and do in a wandering around kind of way. Great place for the sunset!