I've seen canoes and kayaks launch here before:

Harrods Landing Yacht Club
8804 U.S. 42, Prospect, KY 40059
(502) 228-3639

The ramp is usually chained, but that doesn't stop them since they can carry their boats around it. Not sure what the ramp usage rules are or if you have to pay or not, since I have a bass boat and launch and Cox Park and motor up Harrods instead. Nice creek to fish, but I hear better things about Floyds Fork Creek though from waders and canoers.