You can hike down to Crossons (39.39977, 105.38584) from FR553 , which is off of FR549 (I think these FR's are right; check a map). Crossons is just a quarter mile or so below Deer Creek Rapid. Unfortunately: (1) The river-side railroad grade trail is on the north side of the river and Crossons access would be on the south side. There is some easy slack water you could swim at Crossons to cross the river if you wanted. (2) You would be trespassing when you cross the river, so if you get caught, you had better claim to be a fisherman and not a boater. If you made it upstream to Deer Creek, you could continue on the trail to trashcan and supermax. I think the trail crosses to the south side of the river right near the steeps and it kind of cliffs out on the north side in places. This is not a place to "swim across." Accordingly, dreams of hiking to all the steeps and 4-falls may come up short. Be aware that your wife may never forgive you if you drag her for an 8-mile bush-wack rock-climbing mosquito-bite poisen-ivy sprained-ankle scouting mission on Bailey.
You could boat from Crossons down to Pine Valley Ranch (PVR) and enjoy the "Granite Dome" portion of Bailey which is similar to the Foxton Boulder Garden, but a notch harder and more consequencey. It's about a 2 mile hike from FR553 to Crossons, so hiking down with a boat would be a weird adventure with all the good stuff that's running.
I don't recommend hiking up from PVR because you will cross private land and will piss off the landowners who are usually sipping lemonade on their porches.
The best way to see Bailey is to boat Bailey! It's not hard at all to scout Steep 1, 2 and Trashcan if you have a patient guide. If you do take the "floating tour" of Bailey, remember: It's cold even if it's 80 degrees out, dress appropriately. It's far from your car, bring first aid and a breakdown paddle. It can be a long day, bring food and water.