It isn't (as far as I know) "printable" but does go down to street level or near (depending on the country)http://labs.beffa.org/worldheritage/
Select the country you want from the above page.
I would then transfer the details to the road map/guide book I was using for planning/driving. There are not that many sites in Hungary/Romania. Hope you enjoy these countries - do NOT miss NE Romania - Transylvania/Bukovina etc. Whether you bother with the Danube Delata depends on what interests you - see my review. It will take several days to really see it or else you just get a "taster" as per the villages I list in my review