US-2 hugs the south shore of Lake Superior //
It's the north shore of Lake Michigan. And it's inland 30-40% of the way from St Ignace to Escanaba (from which point it is no longer near the lake). But it is a good drive, especially with 65 mph speed limit and a number of passing lanes.
On the south shore of Superior, M-28 is along/near the shore from near Marquette to Munising.
Can you really drive M-185 though? I suppose you could drive it in an emergency vehicle, snowmobile or horse drawn carriage.
Or a bike, like most visitors do.