Yes. You can easily walk to Epcot or grab the boats. As lives4disney pointed out, if there isn't a boat right there, just walk, it is much faster. We were just there June 6-13. We really did enjoy the walk to and from the parks. Also the girls loved watching the fireworks off of our balcony.
Our only disappointment was where we 'started' at Epcot on the early entry mornings. We arrived at the turnstiles very early. Once we got through the bag check and into the parks they had a few CM's who directed you where to go. We were headed straight to Soarin'. Our rope drop was the little pathway by the old McDonald's stand. If you wanted to go to TT or MS then they had you wait at the main walkway between FW and WS. We ended up giving our tickets to our 13 yr old and having her grab FP's for us, she had the FP's and was ready to jump in the stand by line by the time we met back up with her. It was a mad house by the time we hustled down that sidewalk. People were already pouring in and of course you had all those with strollers who had no idea you needed to leave the strollers outside.