The boat owner's wife called watchstanders for help around 9:20 p.m., when the men did not return home and could not be located.
"The Coast Guard helicopter crew located the two men just off core banks waving their arms for help," said Petty Officer 1st Class Jason Frivance, a Sector North Carolina watchstander.
Crews hoisted both men, along with their dog, into the helicopter. Officials said they all were in good condition and taken to Beaufort air field to meet their families.
Authorities did not say what caused the men to be stranded.
