Sailing Boat
For a full sailing experience, you can't do better than a monohull Sailing boat. If you choose the "bareboat" option and want to improve your sailing skills, this is a great way to do so.
Or you could just let the crew do the work and enjoy the ride ;)
Modern charter sailing boats look smaller than catamarans, but they are well made to have as much living and storage space as possible on the inside. Another benefit is that sailing boats are usually cheaper to charter.