In addition to five different reconstruction drawings of Jerusalem, the ESV Study Bible also has eight “city plans”: four in the OT (Ur, Nineveh, Babylon, Jericho) and four in the NT (Corinth, Ephesus, Philippi, and Rome).
To see what the Rome one looks like, you can visit this post on Ancient Rome at the ESV Study Bible Blog. I've also included a good bit of the section on the city that is within the Introduction to the book of Romans.