Scroll with the scrolling wheel on your mouse or press the + icon on the map screen. Then when the stick person icon on top of the zooming meter icon turns orange, drag it out of the circle and then place it to your desired location. After that is done, just release the mouse to make it drop onto that location and you are good to go. But it only works if you are zoomed in to the maximum and if you place the orange stick person on a road, street, or highway. Good luck with that!
Inside a browser, you drag the orange guy onto the map. Regions or streets that have street view available then turn blue. Drop him where ever you want inside the blue marked area. If you use a google maps app, zoom in to the street you want to begin, then touch and hold on this street until a box appears. Tap on the arrow in the box, to open more options. If street view is available, one of the options is the orange guy. Tap him to enter street view.