Literally every single town in all of New England can be considered quaint.

You're on the right track though as far as "most quaint" goes. Anything in the North Shore along the NBPT/Rockport line is great. I lived in Beverly for 2 years and it is a beautiful little city and supremely walkable. I would go weeks without needing to get in my car. Bars, restaurants, groceries, barber, whatever you need; even an impressive late night scene (as far as suburban MA goes).

Ipswich is wonderful if you want to dial up the quaint homey-ness and dial down the city vibes a bit more from Beverly. Ipswich has a nice little downtown that is plenty walkable and feels like such a peaceful little slice of New England.