by water
Take a walk down to the docks and find yourself a little boat to take you for a round trip around the harbour 10 Singapore Dollars or less. Tanjung Pinang is built into the water and being on the water is the best way to see it.
For a longer trip, rent a guide - who will arrange a boat or boats - at one of the piers i.e., at the end of Jn Pelantar 1 or 2, and go and see Penyengat, Senggarang and Sungai Ular Temple in one go. Price is up to negotiation, may be around 30-40 SGD for two persons. Watch out to get only one person showing you around, and make it crystal clear in the beginning that price is all-inclusive.