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.