I don't do rentals specifically, but I have helped my brother-in-law and my clients pro bono rentling out properties in S.F. and Marin. Craigslists is very efffective especially if you coupled it with great pictures and descriptions.
This is a great rental market, good luck!
The site address for Craigslist is http://sfbay.craigslist.org/. You can also hire a rental specialist to do the work for you - post the ads, show the house, provide applications/screen tenants, and handle the lease. If you want information on this please contact me.
McGuire Real Estate