There are many digital and physical bike maps for the Twin Cities area produced by public agencies and private companies. Each has their advantages. Only you can determine which works best for you.
Google maps
A great place to start is to use bicycling directions on Google Maps. Open the menu in the upper left corner and select bicycling. This mode will display bicycle infrastructure and provide suggested routes. Note: routes suggested by Google or any other mapping service can be a good place to start but they are not necessarily the best option.
Online and digital maps
There are many digital and physical bike maps for the Twin Cities area produced by public agencies and private companies. Each has their advantages. Only you can determine which works best for you.
For physical map options, check your local bike shop, public library, or local city, town or county office. Many of the above linked digital maps are also available in physical formats.