There are two shuttle options. One is Altran, the public transportation Rog was referring to. The second is Trailspotters, a privately run service. You can find info for both online.
The North Country Trail runs the length of Pictured Rocks, with small side trails at various points to scenic waterfalls, shipwrecks, etc. Maps available online are all you need. It would be hard to get lost in this area.
Here is a link to some recent pictures. The area is well worth the trip.