Founded in 902, Bamberg remains a medieval-looking city known for its symphony orchestra and specialty, “smoke” beer. The city’s winding streets are filled with baroque patrician houses and are home to the breathtaking 11th-century Cathedral of Holy Roman Emperor Heinrich II, housing his tomb and that of Pope Clement II. Be sure to see the old bishop’s houses—16th-century Alt Residenz (Old Residence) and 17th-century Neue Residenz (New Residence).