Free parking--Renaissance Inn, Country Inn and Suites, Quality Inn and Suites, Radisson.
Free shuttle--Radisson, CI&S, Quality Inn and Suites (I believe the Renaissance has a small fee for shuttle)
Free breakfast--Radisson includes breakfast only in specified packages, others above do have it.
If you drive a little farther down the road, there is beach access, but most of those hotels don't have cruise parking.
Of the ones listed above, the Radisson has the nicest pool, CI&S is my "overall" favorite due to price, breakfast, and free shuttle/parking (if you get this on Priceline, you can pay $20 for parking). Renaissance is also nice...and since you have a car, driver can always take the family to the port and only pay for shuttle for one person!