As a resident of Copenhagen this was not really my impression. Yes, Palo Alto is cycleable, kinda in the same way any small town in the world is cycleable - low amount of traffic and comparatively wide streets. San Francisco is cycleable because it is 7x7 miles large so not that much space to sprawl but cycling infrastructure is basically completely absent.
What surprised me though is how overall passable public transport in San Francisco was. MUNI and BART are pretty okay for getting around even if locals don't believe so. Unsurprisingly whenever I was in trams, they were full of other European tourists.