I enjoy Kabuki Spa. They also have a nice hot tub/steam area (check their schedules for single gender/mixed gender days). The ambiance is peaceful and calm from the moment you walk in, people speaking and walking softly.
http://www.kabukisprings.com/
For a basic salon, no frills (though they do have a small hot tub/steam room), I like Elise's Health Spa on 24th Street in Noe Valley.
http://elisas-health-spa-of-san-francisco.ypguides.net/
With both you can request the type you want--Swedish, deep tissue, Shiatsu, etc.