I think if you wanted to rent it out you'd want to create an LLC, transfer the boat to the LLC, and then insure it as a business.
Any boats in charter, or club boats (with individual owners) are done this way. The person(s) chartering/renting will be required (by the chartering agreement) to carry their own insurance ALSO.
I don't know if they'd be willing to help per se, but this is how many (not all) boats are managed in the Seattle Sailing Club - and probably others. The affiliated brokerage typically helps owners buy boats that are already in the club, but owned by the club, or outside the club and place them in the club, or take them out etc, including establishing a business, getting insurance, agreements etc. From talking with a few folks who own/have owned boats with Seattle Sailing Club - the entire process is fairly easy from their perspective.
SSC probably wouldn't be interested in having this kind of boat in the club, but perhaps the owner (who is a fantastic guy!) could send you over some example paperwork, or at least hook you up with their lawyer if you want to try this yourself.