There are a bunch of different renderings of OSM data available. More importantly, you can download the data and render it however you'd like.

Cloudmade's default rendering of New York looks pretty decent: http://maps.cloudmade.com/?lat=40.741014&lng=-74.009399&... but they also let you create your own style (e.g. http://maps.cloudmade.com/?lat=40.741014&lng=-74.009399&...)

Lars Ahlzen uses OSM data to make beautiful maps at http://toposm.com/

...the list goes on.