Is there a website where you can get walking directions -- instead of driving directions? Let's say I have somewhere I want to walk in Brooklyn. Google Maps might tell me to get on the Brooklyn-Queens Expressway, as if I were a car. I want a site that caters to the pedestrian, preferably with options to maximize safety, shopping, and so forth.
ADDED: People are recommending HopStop. I can see that it purports to give walking instructions, but is this really the best pedestrian route, or is it the same as the car route?