Unfortunately, TTC is pretty much right on about "canoe friendly" lakes in Waukesha County. Motor restricted lakes in the county are Upper Genesee and Forest Lakes that have carry-in launches and the Menomonee Park quarry has a small drive in launch.
Most weekends are decidedly unfriendly to canoeists. If you can get away during the week I would suggest Pine Lake. I fish it regularly and it has severely restricted access that makes it a very pleasant visit Mon.-Fri. It's also a fairly large lake at 720 acres and 1 mile in length so you can flex your paddling muscles there a bit.
Another option is to find a lake that has no-wake restrictions for parts of the day.
I'm aware of only one in Waukesha County and that is Upper Nemahbin Lake that has no-wake from 1-3pm weekend afternoons but there is still a ton of boat traffic there. Long Lake in North Kettle Moraine has no-wake after 6pm on weekends and most motor boats except fishermen get off the lake at that time.