The British colonial city of Ipoh had humble beginnings, but has blossomed into a beautiful cityscape that marries old-world charm with modern amenities. This is a foodie's city, offering endless street stalls and restaurants all eager to serve up a sample of mouthwatering local fare. Walk it all off on a jaunt through breathtaking limestone caves that seem carved by the capable hands of a higher power.

Johor Bahru is the second-largest city in Malaysia and, with the opening of two major amusement parks in 2012, it is poised to become a major tourist destination. TripAdvisor travellers also recommend visiting the Arulmigu Sri Rajakaliamman Glass Temple, a unique Hindu temple decorated with brilliant glass mosaics.

Singapore is known as a bustling metropolis that also happens to be one of the cleanest and safest cities of its size in the world. (Just make sure you heed the local laws—something like spitting in the street might merely be considered rude in your hometown, but here, it carries a severe penalty.) You'll find historic sites like the Thian Hock Keng temple, superlative shopping (including gargantuan malls) and numerous beaches.

Famed throughout Asia for its heady mix of eastern cultures, Penang Island is Malaysia’s prime melting pot. Roadside vendors serve some of the world’s best street food; its national parks offer white-sand beaches and wildlife; and UNESCO-listed George Town is full of colorful heritage houses.

The beauty and rich history of George Town keeps tourists flocking all year round. George Town offers views of the famous Cheong Fatt Tze Mansion, Kapitan Keling Mosque and many of the capital's golden crowned Buddhist temples.  With museums showcasing the country's rich-historical treasures, restaurants that offer classic Malaysian cuisine and dozens of shopping malls, there's guaranteed to be something for everyone to see.

Kuching is a fine choice for an enriching vacation that's as packed with learning as it is leisure. Its many museums and impressive planetarium will enthrall even the tiniest travelers, and a quick climb to the top of the Kuching Civic Center will reward you with jaw-dropping 360-degree views. Grab a snack from a stall on the bustling waterfront, and don't miss the absolutely massive Sunday market, which is an electric experience for shoppers, vendors, and observers.

Kota Kinabalu on the island of Borneo is the bustling gateway to acclaimed Kinabalu National Park. The park's high point is 13,400-foot Mount Kinabula, Malaysia's tallest peak, a mecca for climbers. Ninety miles away, thrilling jungle trekking and camping await in the Crocker Range National Park.