This is a must-see-with-your-own-eyes place. Everywhere you look there are amazing views that will amaze you. It had been snowing the night before, creating stunning waterfalls everywhere you looked. Clouds were hanging low over the mountains, it was the most amazing place I've ever been! A bucketlist item!
Don't overthink the tour. Your options are coach and cruise or fly. The coach is a much nicer trip from Te Anau, a town about halfway between Milford and Queenstown, if you're not a fan of bus trips (compounded with winding roads) then the Te Anau option is much better.