I flew to Washington two months ago and was also confused by the paperwork at first. There’s a lot of information online, but it’s scattered across different websites. Regardless of whether you have a Schengen visa, you need an ESTA-a separate U.S. authorization that you apply for online for €21 and that is valid for two years. I applied for it a week before my flight and had no problems. The
Amsterdam Airport guide was helpful-it has a lot of useful information, especially about flights to the U.S. As for preclearance, yes, Schiphol has U.S. Customs and Border Protection at the airport. This saves time upon arrival in the U.S. It took me about forty minutes to go through, and in Washington, I simply picked up my luggage and walked out without waiting in any lines. You don't need to print your ESTA; the electronic confirmation is sufficient.