I like the one whose job it is to get beaten up before Goku swoops in and saves the day.
...Wait. That's all the characters but Goku. Ahem.
Krillon, however he spells his name. He's among the smallest, but is very courageous and has mad skills. His power level barely registers next to the Saiyans, yet he never runs. He makes huge mistakes, like not destroying Android 18 and allowing Cell to reach its final form, and admits to them then tries to make up for them. He's the most human of the humans.
Kinda always liked Vegeta.
Piccolo of course.