Check out the Fish and Boat Commission's seven regional guides for Fishing and Boating Opportunities. Each has a fold out map and information for paddlers and anglers, including launch locations, accessibility, availability of parking, and whether they require launching permits and can accommodate motorized craft.
They also show adjacent federal and state lands open to the public for picnicking, camping, and hiking. For anglers, the guides provide information about "approved trout waters,” which are stocked, and "wild trout streams" that feature better water quality and are located in more remote, forested areas.
You can view and print these regional guides for free by clicking the publications link at the Fish and Boat Commission's website where you can access additional information on specific waterways and download PA Angler and Boater. This publication focuses on sports fishing and power-boating, but will be of interest to non-anglers and paddlers as well.