Located on the Main River about 40 miles southeast of Frankfurt, little Miltenberg is a lovely, non-touristy town chock-full of historic half-timbered houses. It wasn't damaged in World War II, so the old houses are the real deal. No, you didn't drink too much schnapps -- many are leaning and off-kilter.
Miltenberg was first documented in 1237, and its castle dates from around that era. The town has one main street and, as the population grew, the city gates kept getting moved further east. The oldest sector is known as the Schwarzviertel (Black Quarter), because the street is so narrow that little sun penetrates between the houses. As you wander through town, you'll notice a few impressive structures built of pink sandstone (as is the town fountain), which was a major factor in Miltenberg's economy.
Ships dock in the heart of town, and in five minutes you can be on Hauptstrasse, the main street, which bustles with locals popping in and out of the shops and cafes.