Tourist / simple city maps to print

If you have a phone, you can download the maps (offline maps in Google Maps).

Often you find some tourist information with maps on airports/bus stations/train stations, but it doesn't seem your case. If you are traveling with a car, take a GPS (offline maps) or buy a road guide: much less troubles.

An alternative is to go to a library, and get a guide and you can do copies of the relevant pages. But often they do not have road maps, and the city maps are often confusing (no or bad overview map).

There are also versions to print on OpenStreetMap, but I find them mostly useful for pedestrians, and BTW now I download their maps on my phone (with one of the many apps you can find).

I really recommend you to use a GPS device or offline maps on your phone, so that you can select the scale (e.g. how to enter into a city, and to navigate to the right part, and then to the hotel).

There are various third-party services offering free printable maps based on OpenStreetMap. Many of these services are listed at OSM on Paper. There you can find, among others:

• MyOSMatic
• Inkatlas
• Field papers
• and many more

The quality of OSM-based maps varies between different geographic regions but can be quite impressive.

I use an app called maps.me when I travel.

I can download in advance the data for an area I intend to be in and view it as needed off-line on a tablet or smartphone.

I can also do a screen shot and then print that if I want paper.

The app does navigation when off-line (but sometimes suggests weird unnecessary detours).

It also allows me to send corrections to Open Street Map, but its editor is not very well done.

There are many sites that have one or a few very good maps, of the cities these sites are for.
There are a few world wide maps, like Google and Open Street Map, which have a good standard but are not specialized in touristic maps.

In your case I would first look for touristic sites, tourist information -name city- and only next for the maps sites.
Those maps can be made more helpful by showing your hotel, those touristy things you want. Whether it is restaurants, places to get money, museums or whatever, all those you want and non extra. If you want you can print a poster size but frame the cut you want and print the screen. (Sometimes you may want to use the 'print screen' option.)

And when in a hotel, do not hesitate to ask for a local map. In many places they are happy to hand them out, in other places they do not, asking never hurts.

If you arrive in a city and do not (yet) have a map, you can take a photo of a public map with the information you need. (On your phone, your camera or both.)

I've used the Printmaps.net editor for a travel photo book, they have highres PNGs (and Illustrator/Photoshop files). Here's a quick map of the Havana Malecón (itchy feet thinking of it):

Might not really be what you're looking for since it's not a printed map, but the two times I visited Cuba I used the Android app 'Map Of Cuba Offline'.

It is a very detailed map of the whole of Cuba, it has all the street names I needed, the possibility to save points of interest and what I used often is the GPS-locator when sitting in a taxi. It happened one time I got kinda scammed when taking a cab to Havana Center, and I was dropped of a kilometer outside the old center just because it was easier for the driver. Doesn't happen when you can see where you are with the GPS turned on. (That's also the only one time I got scammed, it's an amazing island I and I will return for sure)

A quick search and I stumbled on this:

The PDF is a 50 pages road maps of Cuba; mostly of the roads outside the the main cities.

http://www.cubamappa.com/static/img/carte_guia/pdf_fr/atlas_guia_full.pdf

seems to be an offshoot of a French travel site specializing :

https://www.novelacuba.fr/