I have done it back in 2001 while visitng Burlington. it is (the US Side) a nice drive, after the check point charlie customs the drive is not as pretty, but it is a quick drive. I would say rent a car in BVT and drive it, you will see some great landscape, bridges, water scenes, etc. And after all two hours would be like sitting in NYC Traffic to go from JFK to Manhattan, well not that long but you get the point.