Zuma beach has parking lot for about $10-15 for the day
Can park in the neighborhood and do the small hike or take the directions to the beach where there is parking for $15. If you want to do a beach day it a generally accessible beach aka the walk to the sand is short, if you park down by the water and pay the $15 for the lot. 6800 Westward Beach Rd, Malibu, CA 90265 -- address for beach parking Cliffside Dr &, Birdview Ave, Malibu, CA 90265 -- address to hike point
Malibu farm has a restaurant and cafe on the Malibu beach pier. I highly recommend the pier for sunset, they also have boat rides available there as well! There is a parking lot, they charge $15-20 depending on the weekend (warning parking can be limited and difficult at times but worth it)