There's a gravel area between the road and the creek to park cars, set up camping chairs/tables, etc.
Not only is this a great spot to relax and have a swim, if you are looking for a scenic drive then the road down through the gully and up the other side is definitely worth checking out.
This spot is known as Fawcett's Crossing, where a low bridge crosses Tullaroop Creek. There is a small cascade to one side and an excellent swimming area to the other.