we looked up lake view restaurants in udaipur and found sheesh mahal to be the idealplacelooking at the pictures and reviews. we made a reservation in advance (and i recommend to book a table before visiting).
to reach the hotel, we took the hotel boat from doodh talai which costs 200 rs + tax per person. i'm not sure if there's any other simpler way to reach the hotel. they check the ids before you board the boat so make sure to carry them.
the boat ride is a quick 10-min ride and offers great views of pichola lake. we went much after dark so couldn't see much. also, one should not take the old city route to reach doodh talai as it has extremely small roads and cars cannot cross them (we had to take an auto).
on reaching the palace, we were greeted and escorted to sheesh mahal. we were given a nice table just by the lake. the ambience was great. everything looked resplendent.
we quickly ordered our food - daal bati choorma, paneer makhani, breads and dahi ke kebab for starters. i loved the dahe ke kebabs and also the main course apart from daal bati which was pretty average.
we had no appetite left for dessert hence didn't try one. overall experience was great and totally worth it, even though it was quite expensive (says 2200 for 2 on zomato but shpuld be close to 5k for 2).
it was a perfect candlelight lakeside dinner with amazing views of taj lake palace, city palace, etc. we went back by the boat which dropped us to doodh talai, from where our car picked us up.