Ralof and Hadvar. They risk their lives to help a complete stranger. Especially Hadvar, I mean Ralof is an escaped prisoner himself at that point and has very good reason to run away, but Hadvar goes against all his orders to help a possible criminal and/or undercover rebel and leave the rest of the legion behind in Helgen. I'm sure his superiors aren't too happy with him once he gets back with the legion.
I have to agree with that. They may become jealous of the Dragonborn later on if you join and advance a CW questline, but that doesn't change that fact that they are generally some pretty awesome dudes who risked their life for a complete stranger.
Brunwulf is also a very nice man and seems very honorable.
Balgruuf is a good man in his own way, openly disregarding possible political complications to protect his people.
Legate Rikke is a soldier, but I get the impression she is a nice person under the soldier.
Kodlak and Tolfdir are also very nice.
There are many nice people in the world. Sadly many of them are caught up in a Civil War.