1 - Utrecht (hands down winner and blows away other NL cities imo)
2 - Amsterdam
9 - Copenhagen (very significant step down from previous two, but nothing I've experienced lies between. They're improving though)
12 - Frankfurt (surprisingly good and I was commuting from burbs to center)
35 - Minneapolis (best in the U.S. in my opinion but a very long way below most of Europe)
44 - San Francisco
45 - Boca Raton (just moved here and getting from our house to grocery, hardware, and restaurants is quite pleasant and fewer problems with drivers than other places we've lived in the U.S.)
80 - London

Brussels is somewhere way down at the bottom, perhaps #1256 . Absolutely awful and worse than most U.S. cities.