Example: Around 1649 Joan Blaeu published a collection of Dutch city maps named Toonneel der Steeden (Views of Cities).
This is the map of The Hague from that book, presented here as a simple, unwarped Google Maps image overlay (made with Google Earth).
The Historic maps offered by www.Geotiek.nl have very much more detail and allow for truly deep zoom-in than this limfted sample.