If you want to go straight to the source, you can use New York City's website for the Automated City Register Information System. ACRIS has data for Manhattan, Queens, Brooklyn, and the Bronx.
The ACRIS feed is also culled by data websites including my friends at PropertyShark.com .
Staten Island data is kept by the Richmond County clerk; I believe you have to schlep to 130 Stuyvesant Place yourself.