Bicycling is a nice, relaxing way to really see and area while still covering ground. In the Netherlands bicycles are everywhere, both in the countryside and big cities like Amsterdam. Amsterdam has bicycle lanes on the streets, with special walk-don't walk signs for the crossings. Trains are the basic way that most travelers get around Europe. Trains connect just about every single town in most areas.
Train travel is extremely convenient and well-designed.
Look out for tourist information booths located in city train stations. Trains are usually filled with local people as well, and can be a great place to meet interesting locals. Do not be surprised to see pets on many trains. Most trains have separate smoking and non-smoking cars, and larger trains have a buffet car and person that comes down the aisle with a pushcart of snacks and drinks. Train tickets range from very inexpensive to very expensive.