Kyoto and Osaka

Me and my wife are trying to figure out what to do when we go to Kyoto and Osaka. We are going to do 1 day each as we are staying in Asakusa most of the 11 days before going to a Disney hotel.

We are wondering if it's better to write down places to go, or just get lost and enjoy it??? Or is it better for a mix of both?

We already have lots of Tokyo stuff planned already it's just the other cities.