Cocoa beach, just south of Titusville is a great spot.
It's got a nice car park right on the front, and you can watch the launch from the beach, day or night.
You always get a good crowd there, a great mixture of interested families and passionate know-it-alls.
There is a great bar / restaurant there too (as long as the launch isn't at 4am like the one I'm hoping to see

)
Even from Orlando though, you can still see it go up, day or night. It's worth looking, even if you're not interested.