They call it the Venice of The Netherlands and this for the amount of canals & inaccessibility of cars around certain areas of the village. 

I think that they way to go is by car, any other way is long and not very convenient especially if your origin is not in The Netherlands. If you really want to you'll manage by public transport or with an organized group out of main cities in The Netherlands. 
When you arrive park the car right at the beginning of the city, the parking is free

A one hour boat tour is 12 Euros and includes a warm beverage. They will guide you around the canals and provide details of the history of the Village.  

You can rent boats which are running on batteries (charged overnight) and so you can enjoy a peaceful boat trip at your own pace

When we parked, there was a restaurant right next to the river and the smell of fish & chips came to me and i was hooked. I did not eat there, but did have fish & chips & some local beer. 

You will note some are private property so be mindful and don't invade people's homes

The whole village is ultra cute, but in this overload of cuteness you will find even cuter or funnier things. My favorite: 

Because, why not?

And yeap, that's a bit how your day passed :)