Cliffs on a City Map

I'm trying to get cliff edges to look half-way decent on a city map I'm doing featuring an island-based city (think venice) with a lot of waterways. There's an excellent example on an old dungeon/D&D map I've attached below.

Less exact but potentially workable is the linked to map below:

http://www.cartographersguild.com/attachment.php?attachmentid=22383&d=1266982361


Any ideas on how to get something approaching the above (ideally the first one)?

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