You have to select a specifc point on a map, tap on the info bubble, that takes you to the information page, then click street view icon (man) if its available on the far left.
long press on a street and it will load an address click the address popup and there will be an option for street view if there is a street view available.
Mine has been malfunctioning lately. Wont move with the move like it used to. no idea how to fix. you think it would always work flawlessly since it is a google app with a google feature running on a google operating system. not sure what the issue or fix is.