There are several trains from the south of Holland (intercities from Breda) and the north of Holland (Rotterdam). A journey from both Breda of Rotterdam will take about 15 mins. There is also a possibility to take a highspeed-boat from Rotterdam, with some stopovers on the route. Nice way to travel, and you can see some nice sceneries. Trainticket from Rotterdam or Breda is about $5 for a return.
Dordrecht is also good reachable by car, in about 15 mins. from Rotterdam.
Good public transport, only buses. No trams of underground.
Just brush up on your dutch and how to read the schedules before going to the country. From leaving Schipol, I was misdirected to Dordrecht instead of Utrecht. Upon querying a conductor when arriving at Dordrecht station, he made it a point to embarass me with loud overtones of what train to take. Immediately I felt either he was a racist S.African who fled his country with a chip on his shoulder, or he despised my American presence.
Also, Americans traveling solo be warned. I swear your left to fend for yourselves as a middle easterner was making loud and verbal hand gestures inches from my face near the platforms edge. Spoke no english, nor dutch. No authorities in site. Luckely, he ran off for his sake.