Bamberg is one of the few German cities that survived the war. In 1993, the historical center was listed as cultural heritage. The town is not well-known, but worth visiting, as it's very beautiful.
Bamberg is located on the hills, so be prepared to walk a lot if you want to see all sights. Old Town Hall meets the tourists. It construction began in 1386 on an artificial island. The tower was completed in 1750. To the right, along the river, lies an unusual Little Venice area - old fishing houses on the banks of the Regnitz river. There are even gondolas here.
Also be sure to visit the following places: Imperial Cathedral, founded more than 1,000 years ago, a new Residence, a rose garden and the Old court.
Along the Aufsesstrase and Mihaelsbergstrasse streets climb to the St. Michael Monastery. You can also climb from the Untere Sandstrasse Street. A terraced garden in front of the monastery offers a good view of the town, the Residence and the Imperial Cathedral. On the right side of the garden is a path by which you can go down to the center.
Brochures and maps in English can be found here.

View of the Residence and the Imperial Cathedral from the terrace of the St. Michael Monastery ©Yuriy Buriak
Nice cars for a small town =)
Getting there: ICE trains following from Munich to Berlin stop in Bamberg. Regional train from Nuremberg goes 40 minutes. It will take you about 3 hours to reach the town from Munich by regional train with a stopover in Nuremberg. From the train station you can go 2 stops by bus to ZOB (bus station). Find a stop on Luitpoldstrasse.