 Slow Traveler
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My recommendation is first and foremost that the maps be laminate or waterproof in some way. I had to buy a laminated map in Amsterdam after my paper fold-out map fell apart in the constant rain.
Neither Amsterdam or Brussels is as complicated as London in terms of tiny winding streets. If your friends are tourists, I would think they could get by in both cities with standard tourist maps and guide books. If they will be doing business or visiting homes, I would recommend they wait until they arrive in both cities and look at maps first hand in bookstores (which abound) or at the airport/train stations. They can see which ones they prefer in terms of size, detail, etc.
I very often wait until I arrive in a city to buy a map at the airport or train kiosk.
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