Welcome to cruise-chat. Amsterdam is the only city I can speak of. If you are docked where we were, it is a very short walk to the Central Station, where you can pick up a tram to anywhere in the city. The 1, 2, and 5 will take you near the Rijksmuseum and Van Gogh museums; I forget the tram # for the Anne Frank museum.
You can avoid the lines at the Anne Frank museum by purchasing your tickets in advance. They must be for a specific time. You can find more information, and order them, here
I agree that the best way to experience Amsterdam as a first-time visitor is by canal boat, as CruiseFanatic described above.