There are three places I know of that you can launch from in that area.
1) Ilfracombe, shared slipway with the RNLI. Good slip, however parking can be an issue depending on what size boat you are launching.
2) Watermouth Cove, next to the campsite you can launch. You will need a 4x4 here.
3) Appledore, excellent slipway and parking facilities. You do now need to register with Torridge Council as there have been a few complaints about Jet Skis, etc. If you use Appledore do you homework on the naviagation. The Bideford Bar is very interesting. You need to keep inside the marked channel.