Answering my own question. I went to maps.google.com on my Windows computer. When creating a map, it allows you to import a kml or kmz file up to 3Mb (this option is not available on the Nexus7 app). Then, after I saved the map that included my imported kml file on my Windows computer, I opened the Map app on N7 and could see the map with all my waypoints under "My Places". Fantastic!