Monksville Reservoir Kayaking
One of our favorite spots to go kayaking in NJ is Monksville Reservoir. Not only are there no permits needed, but it is a pretty large lake with a lot of mountainous charm - at least for New Jersey. The boat launch is large, and there is ample parking.
If you don't have a boat, don't worry. They even rent out kayak's and SUP's right at the spots. Strangely enough, even though those options are available, the reservoir is still quite quiet.
See below a few pics from our most recent visit to Monksville were the doggo joined us on the kayak's. We just started him on the kayak's, but he has become pretty well adjusted to the concept of a kayak and luckily stays pretty still for Tom.