It is not a paradox, it is a question of rules, lack of adequate real-world parameters, and Infinity:
Rule: OVER-STEPPING: If you are allowed to OVER-STEP point B, then, once beyond it, it can be said that you 'reached it' at some point in time, however infinitesimally short in duration.
THE ROLE OF INFINITY: Since the 'line' between Point A and Point B is 3D (which it has to be in order to physically exist, and we ARE talking about physical reality), then you may have missed it along any dimensional axis, if your measurements get small enough. If you allow a tolerance of say 3ft, then the determination can be made.
LACK OF DEFINITIONS: First 'you' hasn't been defined, so the 'paradox' is rendered 'silly'. If the point is minuscule, say just a fraction of a millimeter, and 'you' are a circumference of two feet, then it can be easily determined if 'any of you' is 'on' the point - say if an outside observer cannot see the point through your shoes. Note that this assumes that you are allowed to 'OVER-STEP' the point (meaning part of your shoe has 'gone beyond' the point.
THE LIMITING RULE and another LACK OF DEFINITION: If, on the other hand, you are NOT allowed to over-step the point, then the statement is true (and not a paradox), given infinite regression (that you will never 'reach' Point B). If an adequate parameter is given, say a 'zone' of adequacy (for instance, if you are 'close enough' for all practical purposes), then a determination can be made. So the real problem (in the real world) is in the lack of parameters. As for the math, you are using...
THE WRONG MATHEMATICAL TOOL: It is true that by halving the distance ad infinitum you will never reach Point B (nor will any part of you ever 'cross' it), so that presents no paradox in itself.
CONCLUSION
The 'paradox' is a good example of posing a real-world question (that which is beyond pure theoretical math) with a lack of real-world parameters.