Pokemon is good if you have some one IRL to play with, as the VS. play is incredably deep, otherwise it's a collectathon on the scale of WoW. The best part about the story is that you don't need to grind if you simply play smart.
Like a lot of others, Golden Sun 1 and 2 are good. The magic/development system is very nice and the puzzles are difficult without being cheezy. Also, you don't need to grind if you stay on top of things in boss fights.
Lastly, Yggsra Union for the GBA. Very unique battle system. It's like fire Emblem, but there are twice as many weapon ypes and you don't need to maintain equipment. It is complicated as balls, though, and you generally have to plan out what you are going to do one or two turns ahead. Also, it is impossible to aimlessly grind. When you beat a level, the story progresses, so you are constantly advancing.It may be quite hard though, if you don't plan, so it may not be for you.
It seems all my favorite RPGs don't force you to grind.