|Took an overnight train to Ahmedabad, then found a bus from there to Udaipur (5 hours, fancy bus, good road).
Udaipur (population of 389 thousand), sometimes described as the Venice of India, was the epitome of Rajasthani charm and architecture. Set around lake Pichola with a floating palace (made famous by a James Bond movie), there are beautiful, old villas, palaces and narrow lanes aplenty. The architecture is really ornate with colorful mosaic inlays (often of Ganesh or peacocks), detailed carvings and window frames influenced by Islamic architecture, and colorful painting. We found this to be the most beautiful city so far. Easily walkable (though fairly hilly), views from every restaurant and hotel roofdeck, with less tout hassle then we expected.
While here, we visited the City Palace and Museum (built in the 15-16th centuries), Jagdish temple (1651), a restored mansion called the Bagore Ki Haveli (18th century), and plenty of rooftop restaurants that let us soak up the view. Although fairly touristy, it was a very nice city and a place we'd happily re-visit if we get the chance.