The Route
Cascade Falls in Mill Valley is the easiest waterfall hike in the Bay Area. It's about 1/4 mile (if that) from the little parking area in Mill Valley. It's a lovely flat hike on soft, spongy, single-track through the redwoods to the 15 ft. waterfall. If you'd prefer a longer hike, you can start from downtown Mill Valley which makes it about three miles.
The trial.
The falls.