If you're in the area, there are some great exhibits at the German History Museum in Berlin, including exact (scaled down) replicas of medieval cities, with inf

If you're in the area, there are some great exhibits at the German History Museum in Berlin, including exact (scaled down) replicas of medieval cities, with information about different areas of town. Very different than walking around town, but it is interesting to see what a medieval city looked like from the top. Otherwise, I can vouch for Bruges, Siena, and Regensburg.