You can walk, drive, or ride the Yurikamome train across the Rainbow Bridge in Tokyo. I’ve done all three, though for me, “driving” just meant riding a highway bus across the Shuto Expressway’s Daiba Route. The two pedestrian promenades on either side of the bridge have various lookout points, but because it’s a double-decker bridge, you’ll be walking under the road most of the time.
It’s a very different thing to feel the wind whip through your hair as you ride an open top bus across the bridge’s top deck. Since the weather was nice yesterday and we had just spent two hours in a museum, we decided to hop on one of those red Sky Buses that you sometimes see driving around town. By 4:30, it had cooled down enough that we could do it without turning into sun-dried tomatoes. The 50-minute Tokyo Tower/Rainbow Bridge course also takes you across the Kachidoki Bridge and past landmarks like the Kabuki-za theater and the Wako department store clock tower in Ginza.