Answer: Yes. There is such a cruise operated by Circle Line called the Best of NYC Cruise, and it offers a full island cruise that goes all the way around Manhattan. The cruise lasts about 2.5 hours, departing from Pier 83 towards the Statue of Liberty in Lower Manhattan via the Hudson River.

After reaching the Statue of Liberty, the boat turns east into the East River, continues north, and passes through the Harlem River before returning to the Hudson River and back to the starting point at Pier 83. This way, it makes a complete circle around Manhattan and sails through 3 rivers.

The price of the cruise is about $39, and you can book it here.