Unpretentious, intimate, and non-touristy Miltenberg is centered on one main street that runs its entire length. Dating to 1237, this small Bavarian city has charm to spare — there’s a castle here, as well as quirky half-timbered buildings at every turn — without that overly precious vibe some historic towns project. Set right on the Main River (look for flood marks on the Old City Hall), Miltenberg is all about simpler pleasures, such as soaking up the ambience and perhaps tossing back a few local Faust beers.