Yes, it is legal. Of course, it is safer, faster, and just as legal to ride in the street (with traffic). You will be much less likely to hit people exiting buildings; you will be where cars are looking for traffic; and you won't run into people making blind turns, or other cyclists riding with traffic.
From the city code:
"Sec. 55-9-12. - Riding on sidewalks.
No person may ride a motorcycle or motor-driven cycle upon sidewalks. Persons may ride bicycles upon sidewalks; provided, that such persons shall yield the right-of-way to pedestrians and shall give audible signal before overtaking and passing such pedestrians; provided, that this provision shall in no way restrict the authority of the recreation department with relation to public parks and play areas."
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