We have been to Amsterdam many times as my wife's family come from their. However, this is the first time we've hired our own boat and it was without doubt our best experience from Amsterdam, ever!
The boats from www.boathireamsterdam.com are electric and easy to drive. they're also metal so if you do hit anything you'll be fine!
We had a boat seating 6 and this cost E110 for 3 hours which was just about long enough to zip round the canal network in the centre. Also really good value for money.
The tourist boat trips are great but this takes canal travel in Amsterdam to a whole new level. Grab yourself some snacks, a bottle of wine (or two) and have the best time ever sailing around the canals seeing the true beauty of this amazing city.