I'm Canadian and I want to found my startup in the USA. What are my options?

I've lived in the US for the last 6 years. My life, friends, and relationship are here in the USA. I am a software developer in San Francisco and I want to start a company. I can't abandon my life here so how can I achieve my dream and start a company in San Francisco?

Can I found a company with an American? Is it possible to start the business in Canada and live in the US?

I appreciate any help or advice you can provide.