Not every town is like that, of course, which is why I picked this town to live in. The best walkable/bikable towns, I've found, don't advertise themselves as walkable or bikable. They just are.
I'll also check out Verona, another well rated suburb. Looks to be a bit more expensive in housing, but also more local food options. Again a solid bike trail into the big city. Monona might be a little too close to the big city. Sun Prairie might be a little too far away. Disclaimer, I've never lived in any of those cities, so this is all based on just 5 minutes worth of Internet research. YMMV.
We got lucky when we settled down in that we knew what state we wanted to live in and what metro area we wanted to be around. From there it was just trying to find a bedroom community with a good solid downtown. Most suburbs close to the city won't have a downtown (they're more like residential areas), so it really narrows your choices a lot. I like using Google Maps to find area bike trails and bike lanes, which helps show how seriously a town/area takes bike safety and their overall attitude towards bikers/pedestrians.
Hopefully that helps.
Hot piss, my house cost $150,000.
Right now, in the US, that means cities. That's _it_. And even then, most cities are horrible places to cycle.
But it doesn't have to be that way. I'd love to walk or cycle around Houten (NL, pop ~45,000 and built for walking and cycling from the beginning), or perhaps Rothenburg Ob Der Tauber in the old town centre (Germany, pop 10,000 for the town as a whole, smaller within the medieval walls of course).
I just can't think of any place built since the rise of the car which is not a city, and pleasant to walk in, aside from some very small communities like ecovillages (which are nice but not going to be self contained) - https://ecovillage.org/ . Even towns in the US that like to think of themselves as fitting this tend to be fantastically expensive and still very car dependent (San Luis Obispo comes to mind)