We stayed at the Hotel Olimpia in Venice after we ended a cruise last June. The ship transfer dropped passengers off in a parking lot a short distance from the Hotel. It's an easy walk, but if you have a lot of luggage (and an infant) you might have to make a couple of trips. I also believe the parking lot is where passengers boarding a ship to start their cruise meet as well. The location is very near the train station and taxis are plentiful; you could probably take a taxi to the ship terminal as well if you don't purchase the transfer.
The hotel is a 3 Star, the rooms were clean and comfortable with a good Continental Breakfast. The staff was courteous and spoke English. The hotel website is:
Hotel in Venice Hotel Olimpia Venice | Official Site | 3 star hotel Piazzale Roma Venice