Tokyo Monorail
The Tokyo Monorail that runs between Haneda Airport and Tokyo, with an average interval of only 4 minutes, can take you to Hamamatsucho Station in as little as 13 minutes, where a transfer to the JR Yamanote Line can be made.
There's a photo spot where you can snap pictures of the monorail.
This is pretty much what the view looks like from there.