Are there any hotels south of SF or in the SFO area that would be possible to walk to a BART station to travel into SF?

The BART station at SFO is inside the airport.

You can take a hotel shuttle to the airport and catch the train from there. Thus, the best hotels would be the ones near SFO airport. Almost all the major chain hotels have a hotel near SFO. Do you have a price range?

There are some smaller hotels like Days Inn "near" either the San Bruno or Millbrae stations, but most of these are really not within walking distance.

The hotels that are in the SFO area on the same side of Hwy 101 as the airport (Westin, Hyatt, Marriott, etc.) are not really walking distance to BART, but it's possible they might have a shuttle to BART. There are a few motels, though, on El Camino Real in Millbrae that are pretty convenient to the BART station== there's a Quality Suites and the Best Western El Rancho (courtesy shuttle). You want to search for Millbrae, California (although some of the better hotels are in Burlingame, CA).

FWIW, I was referring to the Millbrae BART/Cal-train station,not the airport BART station.

Last January, we took Amtrak train/bus from Sacto to the Embarcadero. Then hopped on BART to the Millbrae station and walked about 5 minutes to our hotel - Travel Lodge, Airport South on El Camino Real. There are several others very close as sf7307 mentioned. Plenty of places to eat.

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Especially several excellent dim sum places.