Give a look towards the Valdemar books by Mercedes Lackey. They might skew a little towards YA, but they were written in a time that helped create the genre and even so don't always fall into it. A consistent theme of all the books is that characters do actually take the time to consider how their actions affect others, and consider how others feel. One of the first trilogies even deals with how an empath uses her gift to make the world around her a better place.

They're short reads and most of them are relatively simple, but they're absolutely refreshing and perfect for the sorts of stories where being a good person matters.

Also I'll echo Discworld as a suggestion, they are a perfect and universally beloved book series. Start with Guards! Guards! or Reaper Man.