We've parked on or right in front of many wonderful beaches in Brazil. There's not many people overlanding here, and there isn't a camping culture either, so there aren't many 'campgrounds', and beach camps are pleasant compared to fuel stations.
Heres a spot (at the thatched roof shelters) we found just the other day. While we were there (overnight) we were the only people there, although plenty of people walked past on the beach. It was at a beach town called Tamandaré, in the state of Pernambuco.
When I went for a walk along the beach I found the lovely church, right on the beach!