For the most part we traveled with the guidance of Rick Steves and his Europe Through the Back Door and Best of Europe books. On his advice we packed just a small backpack each and shipped our riding gear to the hotel near Munich where the bike tour would start. This photo shows the sum total of our travel luggage, including my daypack and Tom's camera.
Packing light worked out very well, and we’ll never travel the other way again! If you’re interested, Rick’s website has all the details for how to do this.
We traveled mostly by train on a Eurail pass for two. It's a little expensive, but less than individual tickets or car rental. And it allowed us tremendous flexibility, which we used to great advantage, as you will see.
But in the UK we rented a car. Train travel there is inexplicably expensive, and the car gave us a different kind of freedom.