The Historic 1901 Water Tower and 1841 Foster House are both open for public tours the first Saturday of each month, June-October, from 10am-noon. They are both free to visit, but the Water Tower does have age and height restrictions. Neither are handicap accessible. For information on both tours, please contact the Hoard Historical Museum.
The Hoard Museum does walking tours of historic downtown Fort Atkinson the last weekend of each month, June-October. Tours start and stop at the Farmers Market area (19 E Milwaukee Ave W, Fort Atkinson) and are held at 8:30 am and 10 am. Tours are free, and are wheelchair/stroller and leashed dog-friendly.
There are also biking tours, but those dates vary and are not set in advance. Contact the Hoard Historical Museum for more information.