The name is misleading but it is worth the visit because of the view all around. Nice for the walk itself.

For me the name of this attraction was misleading... there is one rock with some "ancient" carvings on it. But the walk up the hill and the views and the rocks and places to sit and watch the ocean are really great. If you understand Portuguese there are a series of plaques that tell you that they don't know who made the carvings or what they mean, but they are a few thousand years old. So if you are at Santinho beach, do walk up the hill, it's worth it, but I wouldn't make a special trip thinking that this is a museum as such unless you are an enthusiast of ancient rock inscriptions.