I think this deserves to be highlighted. In a 2018 walking-tour thread within the not-often-visited Norway forum, Donna from Cleveland posted a link to a website that's sort of a clearinghouse for walking tours all over the world: https://www.gpsmycity.com/gps-tour-guides/index.html. You can download the app GPSMyCity (Apple or Android) without charge. Some--perhaps even all--of the walks have a small fee. The walks work via GPS, so you don't have to have WiFi or a cellphone data connection to use them.
I found that I could see the tours on my desktop and the text/photos were printable, but I believe to print the map you'll have to order the walk in PDF form. For the one I checked (architecture walk in Bergen, Norway) the cost was $1.49 with payment via PayPal.
Some of the hundreds of listed cities don't yet have walking tours, but they do have articles available in the app that might be helpful. There are 8 walking tours listed for Bergen; London has 21.
Finally, there's a way to create your own walking tour; I haven't played around with that and don't know how well it works.
I'm aware that Rick and some others, including city tourist offices, offer free walking tours, but there are some special-interest options on GPSMyCity, it covers some smaller places, and having a single source of a lot of walks is convenient.