Annette and I love biking in cities. Our daughters do not, yet, but often we talk them into it.
Berlin is the most bike-friendly city I have experienced. The city’s transportation infrastructure encourages biking. The plentiful bike lanes are usually located between the streets and the sidewalks.
The bike lanes have their own traffic signals. Bikers here generally obey the traffic signals. This is hard for me to do, but I am trying. It helps that the car drivers seem to be quite respectful of bikers.