www.tfl.gov.uk does routes for bikes (advanced search and only select bikes), that should give you the best way once your throught the foot tunnel (no cycling please!) and they have (or used to have) few maps that you could order with the cycle routes on, very handy and cheaper than an a-z
The Cycle maps are actually pretty good and can be picked up from 'travel centres' at Rail stations, Liverpool street underground station has a travel centre where i picked up a few. No 7. is a good one for covering from greenwich into central london.
The Cycle maps are actually pretty good and can be picked up from 'travel centres' at Rail stations, Liverpool street underground station has a travel centre where i picked up a few. No 7. is a good one for covering from greenwich into central london.
you can also order them here
or check out what other peoples routes look like http://cyclemaps.tfl.gov.uk/ if you're inclined to be interested in that sort of thing.