Tokyo Monorail is might be the best way to get central of Tokyo from Haneda Airport. It brings you to downtown in just 15mins and cost you just 500yen(3.82 USD).
You should try this ride If you are coming to Tokyo Japan for the first time.
Enjoy the side window view and hope you like it.
Tokyo Monorail
https://www.tokyo-monorail.co.jp/english/
Note: This video was filmed in Dec 2022.