Sydney has no shortage of stunning coastal walks. One of my favourites starts at Nielsen Park in the posh suburb of Vaucluse and meanders for 2km beneath gum trees and over rocky bluffs in Sydney Harbour national park to Rose Bay. Along the way, hikers might spot cliff jumpers and iguana-like water dragons sunning themselves on rocks. It’s tempting to join them, but it’s worth waiting to reach Milk Beach – a small sand crescent with Opera House and Harbour Bridge views. Walk from south to north and end with a tea and warm scones smothered in clotted cream and house-made rosella jam on the verandah of the Vaucluse House Tearooms.