Probably the closest would be the C&O and/or GAP trails in Maryland/Pennsylvania, although I don't think there are any self-guided tours that haul your luggage for you. There are some services that will shuttle your vehicle for you. But I wouldn't let that stop you: get a cheap set of panniers, pack light, pre-book your hotels, and have a go at it! Lots of threads about those trails on these forums and elsewhere on the Web.

And, having ridden the Danube from Passau to Vienna numerous times, I'd suggest doing that on your own, too. It's much easier than you might think, and WAY cheaper.