We did the Norway in a Nutshell tour, which we both thought was incredible. It is a full day tour - we had to be at the boat at 8am and were back in Bergen by 5:15 pm.
The itinerary was:
Bergen-Gudangen-Stalhelm-Voss-Bergen
We cruised along the Songefjord to the Aurland fjord on a fast boat for 4.5 hours. We changed boats in the middle of the water at the Midtfjord to a slower ferry, where we sat outside the whole time. The scenery went from beautiful to breathtaking at this point. Snowcapped mountains, waterfall-it was just gorgeous. We continued cruising down the Naeroyfjord for another 1.5 hours, the world's narrowest fjord. It was spectacular. We docked in Gudavangen, where a bus met us to take us back to Voss, via a scenic route. It stopped to let us get shots of the panorama. From Voss, we took the train back to Bergen. An absolute highlight.