Sight seeing while on transit in Pudong airport

If you make an international transfer in PVG, the visa is not needed if you want to go out.
There is no sightseeing bus from the airport to the city downtown. You can take the airport shuttle bus line 2 to reach its terminal at Jingan Temple area which is the city downtown area. Then you can visit Nanjing Road and then to other places by taxi or local subway.

Thank you very much, Beth. Do you know if we need to apply for a visa just for the few hours? My husband and I are Malaysian passport holders, with PR in NZ.

Since you have a Malaysian passport, it is hard to say. I suggested you to ask the custom directly to confirm and their phone number is 021-51105100.