Bamberg is a walking city. The whole UNESCO core fits inside a fifteen-minute radius; the climb from the lower town up to the cathedral takes around ten minutes on foot. Cobbles are uneven, so leave the heels in the suitcase.
City buses fill in for the longer hops (to the railway station, out to the Wunderburg breweries, up to Michaelsberg for the abbey). A bike makes the river paths along the Regnitz pleasant — rental from several shops in the centre. Taxis are plentiful but rarely needed.