Having spent 6+ months in Peru on multiple trips over a good number of years, traveling through Cusco twice, but never going to Machu Picchu - here's my "expertise".
There are many small tour vendors located at the central plaza of most tourist destination towns in Peru. I suspect many don't have web sites. Besides international travelers, they also cater to Peruvians. I'm sure you can find a tour operator in Cusco, including English speakers.
Not sure what you're looking for; trekking to Machu Picchu (definitely tours available including mule to haul gear). Guide from Cusco, including the train ride and Machu Piccu or even drive by car to Agua Calientes - probably a custom tour to discuss with an operator in Cusco or Agua Calientes.
Once you get to Cusco, have enough time available and the willingness to ask. I saw many folks in cars or even combi busses participating in a tour.
I never took a tour myself, but I did speak to several tour operators during my travels. Check out "Cusco Moto Tour Peru". I did spend time there getting travel information, and they appear to be a top notch operation who do offer tours. Not sure they offer what you want, but contacting them will answer that. They are a small operation. That's my level of "expertise"
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