check out this youtube video.

https://www.youtube.com/watch?v=gi9-33_fQ6w

in the comments are some pointers on using google my maps. main point is go back to your main google-mymaps page and click on one. its a pretty dumb system but that puts the map info on google-maps instead of mymaps which means streetview info will be available. the url shouldn't have view or edit in it. it if does it points to mymaps.