Ehh... the villains I like I don't favor because they're a certain type of villain. There are so many different and wonderful ways to make a character compelling, but when it comes to fulfilling the mandatory role of antagonist, the villain needs to be genuinely threatening, but coherent philosophical or moral agendas are the key to great villain characters. In epic struggles like Star Wars or Mass Effect, the best antagonists oppose the protagonist on a moral ground, being just as principled as they are, and make them question their beliefs. This allows the protagonist to grow more as a character, and one of the best ways of conveying deep philosophical messages(Joker(The Dark Knight), Magneto, Legato Bluesummers, Darth Treya). In more personal stories, when the protagonists personal life is more the focus, then a villain that's just a complete monster is helpful for making the story emotionality engaging, but this works bets when they also fit the bill for Magnificent Bastards(Go to TV Tropes and look it up), as they must also be threatening(Emperor Palpatine, Judge Turpin)
Note: Principled villains may also be master planners and manipulators, as long as they don't regress to being unscrupulous
Fun Fact: Joker fits both of these roles, as his principle is chaos and madness and he's intent on proving that everyone is like him