Snug Harbor in Sturgeon Bay rents, but I think only smaller boats right now. There is another charter company that used to be run out of Egg Harbor but has moved to Ephraim (?) I think. I can check into the name and let you know. Not sure if the bareboat or not, will also check that out. I'm in Egg Harbor now so shouldn't take long to sort it out.
For a fee, I know a Beautiful Classic Yacht that can be had.