There’s nice waterfront running in Olinda, just north of Recife. Olinda is a colonial town built on steep hillsides and distinguished by its 18th-century architecture, baroque churches, convents, monasteries and brightly painted houses. A wide sidewalk/waterfront promenade runs for nearly 6 km from the historic center north to Rio Doce. The waterfront area is a combination of short sections of sandy beach and more rocky coast. 

Olinda Waterfront. Google Street View

The nicer sidewalk starts in the area of the historic center. It runs alongside Av. Min. Marcos Freire, with wide open views of the water. Along most of it, there’s a separate section for cyclists and pedestrians. There are nice views of the South Atlantic. The north end is just north of Praia de Rio Doce.  NOTE: Rolling Hills

Add-On: You can also explore the narrow, windy, hilly cobblestone streets of the historic center (Centro Histórico de Olinda). Rua Dr. Justino Goncalves is pleasantly shaded. R. Bernardo Vieira de Melo leads past colorful houses to an observatory, historic botanical garden, and nice hilltop views!