My favorite whale watching tour was out of La Paz, not Cabo. If you're willing to overnight one night in La Paz you can get a full day tour up the the lagoons where the gray whales give birth every winter. It's really worth the wasting of one night in your t/s in Cabo, imo.
Of course if you want to stick with Cabo tours, there are many boats and zodiacs that will take you out onto open waters where you'll see whales in the distance. I don't have a specific recommendation on those, the boats are mostly booze cruises, the zodiacs are bumpy but more likely to see whales closer up. But it's not akin to experiencing the gray whales in the lagoons after their migration...that is truly magical.