Are there any companies offering river cruises out of Cold Spring?

I know that Hudson Highland Cruises (http://www.commanderboat.com/index.html) offers cruises from West Haverstraw, West Point and Peekskill in the vicinity. I haven't gone on any cruises directly from Cold Spring - let me dig around and see what I can find. I know there are boating and kayaking options, if you are just looking for time in the water.

No, nothing from Cold Spring. Go to Hudson River Adventures out of Newburgh - it's a fun ride and the boats are well kept up. You can rent (or buy) canoes and kayaks from Hudson Valley Outfitters in Cold Spring, and they also offer guided tours of the local marshes and the river. (HVO is also a really great shop, with cool clothing, shoes, and lots of fun and stylish outdoorsy stuff.)