One of the coolest way to enjoy Tokyo is cruising.
There are mainly two cruise companies and each has own route in Tokyo bay.
(1, Tokyo Cruise 2, Water Bus Cruise )
The routes looks little complicated even for Japanese, so simply the best route I recommend for family is the one depart from Asakusa goes to Odaiba. (about an hour)
If you could make reservation, definitely choose those cool ships – HIMIKO, or HOTALUNA, or EMERALDAS. (run by Tokyo Cruise company)
Those ship are designed by Reiji Matsumoto, famous Japanese manga artist.
The design looks like spaceship, makes fun cruise much more exciting!
Overall all boat crew are friendly, will help you to carry baby stroller.
I guarantee you and your kids would love Tokyo bay cruise^^
■Tokyo Cruise ←runsHIMIKO, HOTALUNA, EMERALDAS (more entertainment type of boat )
*Tokyo Cruise Route MAP (PDF)
■Water Bus Cruise ←more reasonable, transportation type of boat
*Water Bus Cruise Route MAP (PDF)
Rainbow bridge 
Baby Stroller OK 
Asakusa Pier 
Related articles
→Enjoy Tokyo bay by Skytrain – Yurikamome
→Good national museum for family in Odaiba – Miraikan
→Legoland discovery center Tokyo in Odaiba
→New boat pier near Hamamatsu-cho “Waters Takeshiba“
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