Yes, you can just look around the resorts, and no you wouldn't have to pay to park. I assume you mean at the monorail resorts? Stay to the almost-far-right when approaching the MK toll plaza (second one from the right, actually - furthest right is for buses only) and tell the CM you're going to the Contemporary or whichever resort.
Once you get to a resort, you MAY be given a three-hour parking pass. You can park there to eat, shop and look around, but ultimately, the parking spaces are for that resort's Guests and staff.