Amsterdam is a very walk-able city and it's easy to navigate on foot or bike. Public transport consists of trams, buses, and trains that run regularly throughout the city. A single journey costs around $3-4 and a 3-day travel card costs $30. Taxis and Ubers are also readily available, but can be expensive.
If you have more time, consider taking a day trip to nearby attractions like the windmills at Zaanse Schans or the historic town of Haarlem. Art lovers can also check out the nearby town of Laren, which has several interesting galleries.
If you have less time, you may want to skip some of the museums or only take a short canal cruise. Be sure to bring comfortable walking shoes, as the city's cobblestone streets can be a bit tricky to navigate.