Sailing on the lake is not that common. The lake covers an area of 500 km2, and gusts of wind, and even storms, are not uncommon, especially at the change of season. So you need to be an experienced sailor before embarking on this type of boating.
For the same reasons that San Francisco is windy, so is Lake Tahoe. The heat of the valley creates a depression with the coolness of the lake, which generates violent winds. As a result, the wind picks up every afternoon as soon as the valley warms up. You need to be aware of this as soon as you set sail on the lake, especially with a sailboat.
You can hire a sailing boat with or without a skipper. They are generally smaller than motorboats. So if you're in a group, it's worth weighing up these two means of navigation.