Most visitors to Sheboygan will probably be arriving by auto. Sheboygan is about one hour's drive north of Milwaukee on Interstate 43, about an hour south of Green Bay on the same, and about three hours north of Chicago I-94 to Milwaukee and onto I-43. There is also a Greyhound bus terminal on Pennsylvania Avenue, and the nearest Amtrak station is in Milwaukee.
The closest airports served by a major airline, to Sheboygan are in Green Bay (http://www.co.brown.wi.us...) and Milwaukee (http://www.mitchellairpor...).