You might want to do a quick search.
I found
Caribbean Yacht Charter - Cuba Cuba Sailing:bareboat and crewed yacht charters in the Caribbean. Complete air inclusive packages from Australia and the US. Boat rental Cuba - yacht charter Cuba
Cuba is a nice place to cruise.
You cannot go to shore anywhere you please. You are required to check in with the Guardia at the town or villiage first. If there isn't a Guardia post you are not allowed to go ashore. We were detained and questioned for doing so.