The single, best way to see a city or town is by walking. Whether you create your own (the preferred option, because then you incorporate the things that YOU want to see), or find one through research, use this vehicle to both see the sights and tune into the local culture.
For those looking for self-guided walking tours, I have posted many of my own creations on the website. Look in the archives; there are over 200 of them. There are walking tours for all the best travel cities and towns in the world.