Well know one has said it yet, and there is only one show I can think of that fits the bill of being mature, and uplifting.
Usagi Drop
This show basically has the complete opposite tone to Madoka Magica. It's about a man who ends up single handedly caring for the illegitimate daughter of his grandfather (basically his 6 year-old aunt) who is shunned by most of the family. I centres around the hardships of being a single parent, but also shows how rewarding caring and loving a child can be. It is done completely realistically, whilst having a lot of charm to it, and you can see why it's normally ranked in the top of anime lists.