Depending on what kind of tour you're looking for, the London Walks might be a thought - http://www.walks.com/I did a Shakespeare one many years ago and really enjoyed it. It also included a river ride, which was neat since I had never done that in London before.
Bob, I don't know of any specific Tudor-only tours in London, but there may be some. The place to ask about it would be the the London Forum at tripadvisor.com. You have to join to post, but it's free and easy to do. There are some extremely helpful people there, and if there is a specific Tudor tour, they will know about it.
If still in business...EvanEvans is a big tour company, with half and full day tours of London. Frames/Rickards used to be around, too.I have used both companies and found them to be helpful and with schedules that matched my wants. Prices were reasonable, too.
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