No, I am a foreigner who has sailed into the US several times, the USVI and the U.S. mainland and therefore have to know the visa
regulations. This is tough for those who can fly into the US using an ESTA but cannot use the ESTA/visaless travel when entering by boat.
There are lots of pages on the web with this information,
google for "enter
usa on a boat ESTA" or just call up your local CBP office and get the bad news straight from the source.
There are exceptions made for professional crewmembers/seamen to enter without a visa, but you would need to re-register your boat as a
commercial vessel and comply with all sorts of rules. Plus the crewmember would need to be certified as a seaman with paperwork and logbook.