Why not just use your normal anchor to set up a simple running mooring? Instead of anchoring the boat as you usually would, use your ground tackle to anchor a reasonable sized float at your chosen position then run a continuous loop from that float, long enough to reach (doubled) to the beach. Connect your boat into the loop, head for the shore, and then use the line to pull the boat out to the float. Secure the loop on the beach where you can pull the boat back in when you need it.
Needs a wee bit of equipment (not much), care in setting the anchor at the right point, and a long enough line to work the running mooring from above the tide-line ... but works well and you have the reassurance of keeping control of your boat with a line ashore