Yes there are hundreds of co-op and condo units on high floors with views of the East River, Hudson River and New York Bay. This includes Queens (East River), Brooklyn (East River and New York Bay), Bronx (Hudson River), Manhattan (East River and Hudson River).
More important is what is your budget and how many bedrooms do you need? A typical 1 bedroom co-op on a high floor with water views sells from $400,000. (the Bronx) to as much as $700,000. (Manhattan). A 2 bedroom 2 bath co-op will sell for $700,000. (the Bronx) to as much as $2 million (Manhattan)
A 1 bedroom condo on a high floor with water views sells for $600,000. (the Bronx) to as much as $1 million (Manhattan). A 2 bedroom 2 bath condo will sell for $1 million (the Bronx) to as much as $20 million (Manhattan).
If you don't have this kind of budget, you need to forget the high floor and water views and focus on buying a co-op or condo that you can afford even if it's on a low floor and no water views.
Another option is to skip NYC and buy in the suburbs. You need to look in Westchester County (Hudson River) or Nassau County (Long Island Sound and Atlantic Ocean). Co-op and condo buildings are MUCH cheaper and you still get water views. Beware that buildings are much shorter (typically 3 - 6 floors) so don't expect to find skyscrapers. You can buy a 2 bedroom 2 bath co-op along the Hudson River for $300 - 400,000.