It's a distance of 100 miles -- so there's a long list of towns along the beach where you might find a place to stay.
Google Maps is your friend here -- you've left out time of year, and who "we" might entail, what your budget might be (because "crazy expensive" is not a number).
When you've narrowed it down a bit, we can be of more help.
There are beachfront hotels at Pensacola Beach, Navarre Beach, Ft Walton Beach - prices will be high due to the season and there may not be rooms available unless you book ahead. There are non-beach hotels on route 98 in Gulf Breeze, Navarre, and Ft Walton (not far from beaches but not across the road).