One person was winched into the helicopter and the other, along with the two kayaks, was picked up by Lady Liz.
They were assessed by paramedics and were a bit cold after spending 40 minutes in the water but otherwise unharmed, the spokesperson said.
Police Maritime Unit Constable Barry Murfin said the men were well prepared and did the right thing when they got into trouble.
"Things can change quickly on the water so wearing a life jacket and having forms of communication are your best chance of keeping yourself safe on the water.
"These two made it out of a potentially very dangerous scenario unharmed and have their own preparedness to thank."