Alyx Vance seems like a nice, reasonable, biracial, intelligent, Christian, brave, capable, dignified, casual, drug-free, and physically attractive woman. It'd be nice to have her as a "friend", if I may say so. Likewise with Gunnery Chief Ashley Williams (of Mass Effect).
As an actual, not-wanting-to-stick-it-in friend, I think Dante of Devil May Cry seems like a fun kind of guy; and although many people hate him with a passion, Jack Marston seems like a decent enough person.
EDIT: Also, I would've added Zevran of Dragon Age fame, but he is both lecherous and homosexual-- I am neither.