Personally, I think Xenosaga’s the best cast I’ve played with so far. Everyone seemed whole, likeable, and unique. Xenogears and Final Fantasy IX are also honorable mentions.
As for non-ff, I really loved the cast of Skies of Arcadia, and also everyone in Lufia II.
Well, I like the cast of Skies of Arcadia, as well as the game Persona. But, I have to admit, the cast from Suikoden 1 and 2 are amongst my personal fav cast.
I guess the characters I liked best were from Wild Arms. I liked how the three main characters grew and begun to work together after not initially being sure on one another. Plus I liked how the demons interacted with the heroes, and how the relative kingdoms slid in well.
Honourable mention also goes to the first Grandia. Justin was a complete dweeb of a main character, but he did definitely grow right at the end and became a lot stronger than he was initially. Plus every city you travelled through, the cast grew stronger, and the impact and size of the world became more and more impressive.
Suikoden had a lot of characters, but it was the main ones that were the most impressive (Flik, Viktor, Mattieu, McDohl, etc, etc.) The rest were just throwaways, really.
also Xenosaga eps.1 had a really good cast. I love chaos. he’s awsom