Malmö isn't really the most interesting town in Sweden. But you can find some good views of the bridge from the city. More interesting towns in that part of Sweden are Lund, Ystad and Helsinborg. Although none of them are very practical to visit with a car, but you can usually find somewhere to park it in the outskirts.
To get to Malmö the train is the better option, unless you really want to drive across the bridge. Just note that the bridge toll means it is not a cheap trip.
When are you doing this trip? There are also things to see on the countryside.