Harbor House and Bacchus are solid choices. Between the two, Bacchus. Harbor House only offers a few alternatives to seafood: filet mignon, New York strip, chicken and a vegetarian pasta.
And it seems as if you're trying to stay east of the river. Planning on walking to the restaurant? Carnevor. https://m.carnevor.com/menu.php Not the great views as Harbor House or Bacchus but a solid menu and nice wine list.
If you are an adventurous eater, Sanford's. May not be within walking distance for your group. No set menu; Modern American omakase-style with wine pairings.
Mo's is casual. On Wisconsin Avenue immediately west of the river. The Brewers will be playing Cleveland next Tuesday and Wednesday. You could go to Mo's for a drink and hop on their free shuttle bus to the game. Eat at the ballpark. Reserve tickets and an outdoor table at TGIF. (Miller Park has a convertible roof.) http://www.frontrowmilwaukee.com/tickets/tickets.html