Parking is available:

ESTHER SHORT PARK AREA

Vancouver Center Parking Garage
Enter off 6th St. at the corner of Columbia St.
Height Clearance: 7 ft.

Surface lot
South of 6th and Esther (lot is north of railroad tracks)
Free/donations accepted

Street Parking throughout downtown Vancouver
City of Vancouver parking info - link

WATERFRONT

The Waterfront Vancouver Parking Center
700 W Columbia Way (Paid)

AC Hotel Vancouver Waterfront
333 W Columbia Way - North Side (pay to park)
(DO NOT PARK in AC alley that is near the parking entrance)

Street parking at Waterfront
City of Vancouver parking info - link