Many moons ago, we did something like this as a Hobie fleet event. There is a campground on one of the Boston Harbor islands. We sailed out of Hingham, MA. One person volunteered to be the "quartermaster" and escorted all of our camping gear on a ferry out to the island (which also houses a historic fort or prison from the Revolutionary War).

We cooked dinner on an open fire and set our tents right by the beach. It was a truly unique experience.

More info to plan your own trip:

www.bostonharborislands.org/go-camping

Hope this helps.

Mike