Baltimore is a car city in its wider geography but the Inner Harbor, Fells Point, Mount Vernon, and Federal Hill are all walkable from each other and best experienced on foot. The Charm City Circulator buses provide free service on several routes connecting the Inner Harbor to Fells Point, Federal Hill, Mount Vernon, and Penn Station — they are useful for the longer hops.
The Baltimore Light Rail and Metro SubwayLink cover a limited network that is primarily useful for getting to BWI airport and to the suburbs. Neither serves the waterfront neighbourhoods well. The water taxi between the Inner Harbor, Fells Point, and Fort McHenry is genuinely useful and more pleasant than the bus.
Uber and Lyft are widely available. Cycling is possible but Baltimore's cycling infrastructure is limited and the hills add up. Parking is available near all major attractions but traffic near the Inner Harbor can be severe on summer weekends.