Alfredo recommended the Cabo Escape dinner cruise and I am pleased to say he did not steer us wrong. We took our adult children and had a wonderful time. Dinner was excellent, the entertainment was fun and the boat was top knotch. The group was composed of all types - young, old, singles, families. It was a happy, party atmosphere without going over the top (e.g. Jungle Cruise, Booze Cruise). The staff were always running to make sure everyone had whatever they needed; they were friendly and warm - I can't say enough good things about them.
I highly recommend this evening tour.