There's a place called Alpine Resort, on the south side of Rice Lake. I know they have a spot on their property, adjacent to their cottages, that they'll rent out as a tent site. You're definitely NOT out in the woods - but you are concealed from the cottages by a line of Evergreen trees.
Their boat rental price for a 14' Fiberglass boat, with a 9.9HP motor are $100 for the day. Not sure what they charge for the camping lot - probably not much. They have a Facebook page - I've always used their Facebook page to set up my boat rentals.