Being out-of-towners in any main U.S. city, we always try to find a Grey Line city tour. We could find none in Milwaukee, but came across Untapped Tours that was highly rated on Trip Advisor. This is a 3 hour tour, in a short bus that holds only 11 passengers. (Don't wait until the last minute to book a seat, because you may be disappointed.) We re-arranged plans, and stayed an extra day to take this tour, but it was definitely worth the wait. I left a message via the phone number on the web site, and was called back by the owner and tour guide himself, Mike, within an hour. Don't worry about the length of the tour being too long to sit in a bus. You will not only get a bus tour, but there are short walking tours at pivotal spots like the newly renovated City Hall, the Milwaukee Museum of Art, the Clock Shadow Creamery (where you can sample some Wisconsin Quark cheese), and a full tour of the Lakefront Brewery with samples and commentary beer glasses ... all that and we never felt rushed. Mike knows the historic places as well as the new hip places in town. We appreciated that he gave us time to go inside of the Art Museum's lobby with its incredible architecture and its specular view of Lake Michigan. I was happy he included a route through Marquette University. The tour is not cheap, but it is absolutely worth every penny.