Although some appear a bit dated, PBS’ travel host Burt Wolf has some great printable guides for the many cities he has featured on his PBS’ Travel show “Travels and Traditions with Burt Wolf” As an example see this Boston Guide in PDF form: Boston by Burt
Some will obviously prefer large guidebooks that have a lot more information, and my personal approach is to plan my trips with a file featuring all the things I want to try to see, cut and pasted in from pre-trip surfing. However Burt’s guides offer a very nicely organized, compact alternative to heavy travel guides, especially if only be staying in a city for a short time.
PBS’s Travel hosts are many and varied and in my opinion some are better suited to different travel styles. Young adventurous budget travelers may relate best to “Globe Trekker”, though I also find it the most entertaining of the shows. Legendary European expert and guide Rick Steves is by far the best known on the PBS Travel team, and I highly recommend his website for great “insider” travel tips you may not find elsewhere.