Due to the narrow streets and large number of pedestrian areas, Amsterdam is best done with walking or boat tours.
For boat tours, there are the big boats that do OK, run a standard route, have a recorded commentary, not the absolute best tours, but OK for the price. There are also smaller tours, like Those Dam Boat Guys, that run small boats, the boatman shares stories and history, you can bring drinks or food with you. The tours are a bit more intimate, get places the big boats don't. You could go so far even as a private tour by boat with a number of companies.