Getting There: Take the Local Train One Way
Otaru is 800 yen and about 30 minutes from Sapporo Station on the JR Rapid Airport service, or 45 minutes on the local train along the same Hakodate Main Line. Trains run several times an hour and no reservation is needed.
Take the local at least one way. Between Zenibako and Otaru the line runs directly along the Sea of Japan, close enough that in winter you get spray on the windows and a grey, dramatic, entirely free coastal ride. Sit on the left-hand side heading toward Otaru. The rapid train saves fifteen minutes and shows you considerably less.
There are two useful stations. Otaru Station is the main one and puts you at the top of the hill above the canal. Minami-Otaru, one stop earlier, drops you at the far end of Sakaimachi Street near the glassworks and music box museum. The efficient plan is to get off at Minami-Otaru, walk downhill through Sakaimachi to the canal, and leave from Otaru Station — you avoid backtracking entirely.
If Otaru is your last stop before flying home, note that direct trains run from Otaru through to New Chitose Airport in about 70 minutes for 2,040 yen, which makes a canal-then-airport departure day genuinely practical.

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10 hours

