In the era of evolving socio-economic and environmental crises, cities face considerable changes and the relevant consequences. Cultural and especially architectural heritage constitutes a key element of urban centers identity, and its preservation contributes to a great extent to cities’ resilience and sustainability. The parameter of access and unhindered participation of all in culture, including people with disabilities, and the promotion of social equality through inclusion, is critical. For exercising the right to the experience of heritage by people with disabilities, focusing on cities’ historic centers, technology is at the service of Universal Design. Digital access can significantly complement physical access. In addressing specific needs and requirements created by various disabilities, technology can play a key role in terms of information, guidance and improving perceptibility, through the digitization of architectural heritage. In this context, the visualization of modern 4D data on cloud-based platforms and the 3D digital twin-city simulations, combined with digital tour guides, are very important. The above applications make possible the digital navigation and exploration of a historic center, the inspection and evaluation of sites without a physical presence, and the provision of information to tour a city and get to know its heritage, for all and especially for people with disabilities. For a guided tour of a historic site, they provide a selection of the optimal route for people with mobility impairments, and appropriate forms of information for the best possible perception of the space by people with visual, hearing, cognitive or mental impairments.