I prefer pseudo-roguelikes (that fuse RPG and roguelike) such as Shiren the Wanderer, Dragon Quest: Torneko's Great Adventure, Izuna: Legend of the Unemployed Ninja, Azure Dreams, etc.
They have the randomized dungeons loaded with the loot, monsters, etc. but also feature NPCs, towns, and storyline (and other elements such as weapon crafting, monster raising, etc.). They don't really have the same sort of "do almost anything" zaniness of some true roguelikes but they tend to be pretty well balanced and have streamlined controls, and are generally more visual.
Of the bunch I'd say Izuna: Legend of the Unemployed Ninja and Azure Dreams are probably my favorite. The dialogue in Izuna alone is worth the price of admission, it is a very slapstick-silly fun game and it has a neat equipment-enhancing system. Plus it is pretty damn challenging. Azure Dreams has a lot in common with the Harvest Moon games when it comes to interacting with the NPCs and allows you to raise a monster pet to bring with you into the dungeons.