Rent a car and make it a relaxed trip along those small historical gems in the eastern parts of the Netherlands, loved by the Dutch, but almost totally overlooked by foreign tourists.
Coming from Amsterdam you can have your coffee, lunch and afternoon drink in Weesp, Naarden, Amersfoort, Harderwijk, Elburg and Hattem or the palace and gardens in Apeldoorn, to mention a few possible stops. Base yourself in Zutphen or Deventer.
The next day you have time to have a look in Zwolle, Kampen and Hasselt (all former Hansa cities, the last one not to be confused with the Belgian one) to the north, or - on the way to Maastricht - to visit Ruurlo and Vorden with their castles (a few kilometres from Zutphen), historical Doesburg and maybe for a last stop in attractive Roermond.