Taking the walking path, the fastest to arrive at, if you cut through the BW pool area, would be Flying Fish or Kouzzina or Big River Grill. ESPN is not much further. This is the fastest way to the Boardwalk.
The boat will stop at Swan/Dolphin first. S/D has plenty of good restaurants, but none of them are on the dining plan; so if you need the dining plan, get out at Swan/Dolphin and walk over to Boardwalk from there.
If you are really looking to minimize walking, the next stop after Swan/Dolphin (assuming you are looking for a dining plan restaurant) is the Yacht/Beach. The boat dock is not particularly close to the restaurants - so there would be walking involved. Over there you can attend Captain's Grille, Yachtsman, Beaches & Cream or Cape May.
Probably the least walking, if you can't do the Swan/Dolphin, would mean you wait until the boat reaches Boardwalk and then go to ESPN, Kouzzina, Flying Fish or Big River.