All except the last city listed are land locked or well inland. I know of no cruise that will do that and doubt if such a cruise exists. If you want that itinerary you have to consider a land vacation.

Jacketwatch is completely correct.The closest you can come to a cruise is taking a segment of a world cruise that stops in Mumbai and has a land excursion to Agra.Probably very expensive and you wouldn't see the rest of Rajastan
Why not a land tour.There are somany of them or even a train one like the Palace on Wheels ?

thanks for your feedback, i would be interested in hearing more about the Palace on Wheels

It's a luxury train ride that begins and ends in Delhi. It costs several thousand dollars but takes you through several of the main tourist destinations in comfort and style.

For a destination like India, it's really better to book through a travel agent or tour operator if you're not an experienced traveler. Many companies include the Palace on Wheels as port of their tours, but then you're probably talking about an $8,000-plus trip per person.

Check out the reviews about Palace on Wheels in Tripadvisor.

Go here:
http://www.theluxurytrains.com/india/

Or, of course, go here and get creative:
http://www.pandaw.com/india-c-124.html

check out pre and post cruise tours.

Didn't realize how expensive the P.O.W. had gotten.Its been more that 10 years since we took it. I only mentioned it because it covered the area you were interested in.We saw a lot.Took the Pawdaw 1947 in Burma four years ago from BAGAN TO MANDERLAY. Very interesting,but don't know if I would have enjoyed it much longer than the 3 days we were on it.
Another option is a car and driver. Let me know if you have any more questions. India is wonderful.