There's a Mich. Sate Park (J.W. Wells) at Cedar River, about midway between Menominee & Escanaba. There's also a State Forest Campground just a couple of miles inland from US-2 at Cedar River, which will be much more quiet & rustic.
A bit N. of Escanaba, at Rapid River, are a couple of private campgrounds.
J.W.